Title :
Locomotion performance analysis of the lunar rover on a slope
Author :
Yong, Chang ; Hongguang, Wang ; Shugen, Ma ; Chunping, Sui
Abstract :
In this paper, the stability and locomotion of the lunar rover on a slope is studied. Based on the analysis of a single wheel´s force model and the mechanism constraints of ldquoRocker-Bogierdquo suspension, the quasi-static model of the rover is derived. The objective function for optimal solution of the driving forces of the wheels is introduced taken into account the characteristic of the quasi-static model and the demand of coordinate actuation of the wheels. The stability and the locomotion performance of the rover are analyzed by analyzing the simulation results. The study of this paper can provide theoretical basis for torque control of the wheels.
Keywords :
planetary rovers; stability; suspensions (mechanical components); torque control; Rocker-Bogie suspension; locomotion performance analysis; lunar rover locomotion; lunar rover stability; optimal solution; quasistatic model; single wheel force model; torque control; Analytical models; Laboratories; Mobile robots; Moon; Performance analysis; Robot kinematics; Robotics and automation; Stability analysis; Torque control; Wheels; lunar rover; performance analysis; quasi-static model; stability on a slope;
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
DOI :
10.1109/CCDC.2009.5194886
