Analysis and Simulation of a Rocker-bogie Exploration Rover
نویسندگان
چکیده
Rovers will continue to play an important role in planetary exploration. Plans include the use of the rocker-bogie rover configuration. Here, models of the mechanics of this configuration are presented. Methods for solving the inverse kinematics of the system and quasi-static force analysis are described. Also described is a simulation based on the models of the rover’s performance. Experimental results confirm the validity of the models.
منابع مشابه
Dynamic Modeling, Simulation and Velocity Control of Rocker-Bogie Rover for Space Exploration
Wheeled mobile rovers are being used in various missions for planetary surface exploration. In this paper a six-wheeled rover with rocker-bogie structure has been analyzed for planar case. The detailed kinematic model of the rover was built and the dynamic model was derived based on bond graph. The simulation studies were performed for obstacle climbing capability of the rover. It was observed ...
متن کاملMotion Dynamic Simulations and Experiments of an Exploration Rover on Natural Terrain
This paper investigates a physical model of the wheel traction in the relationship of the motion dynamics, and thereby studies the cases where a rover negotiates with natural rough terrain, slips and stacks on a steep slope. Experiments are carried out with a rover test bed to observe the physical phenomena and extract essential parameters, and the dynamic simulations are carried out to be comp...
متن کاملSlip-compensated path following for planetary exploration rovers
A system that enables continuous slip compensation for a Mars rover has been designed, implemented, and field-tested. This system is composed of several components that allow the rover to accurately and continuously follow a designated path, compensate for slippage, and reach intended goals in high-slip environments. These components include: visual odometry, vehicle kinematics, a Kalman filter...
متن کاملTradeoffs Between Directed and Autonomous Driving on the Mars Exploration Rovers
NASA’s Mars Exploration Rovers (MER) have collected a great diversity of geological science results, thanks in large part to their surface mobility capabilities. The six wheel rocker/bogie suspension provides driving capabilities in many distinct terrain types, the onboard IMU measures actual rover attitude changes (roll, pitch and yaw, but not position) quickly and accurately, and stereo camer...
متن کاملExperimental Validation of Physics-Based Planning and Control Algorithms for Planetary Robotic Rovers
Robotic planetary exploration is a major component of the United States’ NASA space science program. The focus of our research is to develop rover planning and control algorithms for high-performance robotic planetary explorers based on the physics of these systems. Experimental evaluation is essential to ensure that unmodeled effects do not degrade algorithm performance. To perform this evalua...
متن کامل