elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Vertical Wheel Force Control for a Planetary Rover

Kindsmüller, Tobias (2017) Vertical Wheel Force Control for a Planetary Rover. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2017-83, 70 S.

[img] PDF - Registered users only
7MB

Abstract

The Lightweight Rover Unit (LRU) is a four-wheeled planetary rover for rough terrain exploration. The front and the rear wheels are each mounted on a bogie axis, respectively. These bogies are attached to the body via actuated swivel joints. The aim of this thesis is to employ these actuators to control the vertical wheel force distribution. The control of the vertical wheel forces can be utilized to increase the tip-over stability of the rover and to reduce wheel slippage. In the beginning, a mathematical model of the rover was derived. This model allows an estimation of the wheel forces depending on the system state of the rover. Based on this model, a control law was developed that uses the bogie actuators to distribute the vertical wheel forces in a predefined way. The chosen approach employs a quadratic optimization problem to distribute the wheel forces according to variable optimality measures. The mathematical model contained unknown system parameters which had to be identified for a precise estimation of the wheel forces. These parameters were used in the successful verification of the rover model. The errors between the estimated and the real vertical wheel forces stayed below the tolerable limit. Finally, the proposed controller was successfully validated in experimental tests on the LRU.

Item URL in elib:https://elib.dlr.de/112394/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Vertical Wheel Force Control for a Planetary Rover
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kindsmüller, TobiasTobias.Kindsmueller (at) dlr.deUNSPECIFIED
Date:15 May 2017
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:70
Status:Published
Keywords:vertical wheel force, rough terrain rover, wheel force distribution, force distribution control
Institution:Technische Universität München
Department:Fakultät für Maschinenwesen
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Kindsmüller, Tobias
Deposited On:12 Jun 2017 17:35
Last Modified:12 Jun 2017 17:35

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.