Development of arm equipped single wheel rover: effective arm-posture-based steering method

Author

Motomura, Kazuhiro ; Kawakami, Atsushi ; Hirose, Shigeo

Author_Institution

Dept. of Mechanical & Aerosp. Eng., Tokyo Inst. of Technol., Japan

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

63

Abstract

We propose a new planetary rover system called "SMC-Rover". This system consists of one main body and some detachable units, which can work as child rover, and also become driving units of the main body. Each detachable unit, consisting of a single manipulator mounted on a wheel, is called "Uni-Rover". This paper discusses a new method of trajectory modelling and steering control optimization for the Uni-Rover, using the relation between arm posture and turning radius. The validity of the presented method is verified by computer simulations and experiments with an actual mechanical model. Thus, effective arm-posture-based steering method is introduced.

Keywords

manipulator dynamics; mobile robots; multi-robot systems; planetary rovers; spatial variables control; SMC-Rover; Uni-Rover; arm equipped single wheel rover; arm posture; arm posture based steering method; detachable units; main body; planetary rover system; steering control optimization; trajectory modelling; turning radius; Aerospace engineering; Batteries; Manipulators; Optimization methods; Planets; Probes; Sliding mode control; Turning; Wheels; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241574

Filename

1241574