NDLI: Research on Locomotion Control of Lunar Rover with Six Cylinder-conical Wheels

Content Provider	IEEE Xplore Digital Library
Author	Xinyi Yu Zongquan Deng Haitao Fang Jianguo Tao
Copyright Year	2006
Description	Author affiliation: Res. Center of Aerosp. Mechanism & Control, Harbin Univ. Inst. of Technol., Harbin (Xinyi Yu; Zongquan Deng; Haitao Fang; Jianguo Tao)
Abstract	This paper analyses the motion of articulated lunar Rover with six cylinder-conical wheels and force acting to wheels, and presents six operation patterns of motion of rover' wheel and The free-running operation pattern is perfect. In this pattern, the power dissipation between of mechanisms is minimum. The different mode of motor has influence on stability of motion in various terrains. We analyze the motion of the lunar rover at the three simple-driving mode of motor in the plane terrain and in the uneven terrain at the points of operation patterns of wheel. According to the mechanical configuration of rover, operations pattern of wheel, and principle of speed matching of wheels, we present a control algorithm which can fit various uneven terrains and merge it into the whole locomotion control system. At last, the experiments in the outdoor prove that the control method is right and the control system is stable.
Starting Page	919
Ending Page	923
File Size	5212334
Page Count	5
File Format	PDF
ISBN	142440570X
DOI	10.1109/ROBIO.2006.340343
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Moon Wheels Open loop systems Motion control Control systems Mobile robots Motion analysis Energy consumption Force control Pattern analysis control method lunar rover motor driving
Content Type	Text
Resource Type	Article

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