elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Impressum | Datenschutz | Kontakt | English
Schriftgröße: [-] Text [+]

Development of a Force Control Strategy for Single Wheel Experiments in Soil Environments

Wachter, Jan (2018) Development of a Force Control Strategy for Single Wheel Experiments in Soil Environments. Masterarbeit, Karlsruher Institut für Technologie.

[img] PDF - Nur DLR-intern zugänglich
18MB

Kurzfassung

Robust locomotion through rough, sandy terrain is essential for planetary exploration rovers. In order to test and evaluate the performance of wheel designs as well as t erramechanical models, single wheel experiments are widely used. Common test benches provide three degrees of freedom and therefore no complex scenarios, e.g cornering behavior, can be simulated. In order to circumvent these restrictions, the Terramechanics Robot ics Locomotion Lab of the DLR uses a robotic manipulator to provide additional degrees of freedom. The usage of a robotic manipulator to control th e contact force of the wheel-soil interaction poses new challenges for the force control system. In this thesis a force control concept for granular soil en vironments is developed to improve the currently implemented control system. To predict the performance of the developed system, a simulation framework for th e testbench is implemented. In order to replicate the occurring failure cause, a terramechanical model of the wheel-soil interaction was developed for this spec ific use-case. Using this framework, different approaches for the force control concept are tested and evaluated. The resulting Adaptive Admittance Control (AAC) scheme, adapts the admittance gain depending on force deviation, rotational velocity of the wheel and estimated environmental stiffness. The AAC is implemented, tes ted and evaluated on the testbench, showing superior performance for fixed slip single wheel experiments which were used as benchmark experiments.

elib-URL des Eintrags:https://elib.dlr.de/121791/
Dokumentart:Hochschulschrift (Masterarbeit)
Titel:Development of a Force Control Strategy for Single Wheel Experiments in Soil Environments
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Wachter, Janjan.wachter (at) student.kit.eduNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:15 September 2018
Referierte Publikation:Nein
Open Access:Nein
Seitenanzahl:118
Status:veröffentlicht
Stichwörter:Robotics, Terramechanics, Force Control
Institution:Karlsruher Institut für Technologie
Abteilung:Institut für Angewandte Informatik
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - Projekt MOREX [SY]
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Systemdynamik und Regelungstechnik > Raumfahrt-Systemdynamik
Hinterlegt von: Buse, Fabian
Hinterlegt am:11 Okt 2018 11:30
Letzte Änderung:18 Jul 2019 16:10

Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags

Blättern
Suchen
Hilfe & Kontakt
Informationen
electronic library verwendet EPrints 3.3.12
Gestaltung Webseite und Datenbank: Copyright © Deutsches Zentrum für Luft- und Raumfahrt (DLR). Alle Rechte vorbehalten.