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Modeling and Force Control of a Terramechanical Wheel-Soil Contact for a Robotic Manipulator used in the Planetary Rover Design Process

Wachter, Jan and Buse, Fabian and Mikut, Ralf (2019) Modeling and Force Control of a Terramechanical Wheel-Soil Contact for a Robotic Manipulator used in the Planetary Rover Design Process. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems, 4.-8. Nov. 2019, Macau, China.

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Abstract

The German Aerospace Center (DLR) has developed the erramechanics Robotics Locomotion Lab (TROLL) to provide a feasible testing facility for the development process of planetary exploration rovers, as well as the validation of terramechanical models. A robotic manipulator is used to provide the necessary degrees of freedom to the mounted wheel- or subsystem, making it necessary to actively control the interaction force of the soil-wheel contact. This work is concerned with the development of a feasible force control strategy for the occurring wheel-soil contact of the testbench during single wheel experiments. For this purpose, a terramechanical model is developed to accurately map the dynamic process relevant to the force control design, which is used in a simulation framework of the testbench to predict and evaluate the performance of control strategies. The developed Adaptive Admittance Control (AAC) scheme is adapting the gain based on the current control deviation, rotational velocity of the wheel as well as an estimated soil stiffness during the experiment. Using a benchmark single wheel experiment the AAC is evaluated and shows superior performance compared to standard admittance control.

Item URL in elib:https://elib.dlr.de/128402/
Document Type:Conference or Workshop Item (Speech)
Title:Modeling and Force Control of a Terramechanical Wheel-Soil Contact for a Robotic Manipulator used in the Planetary Rover Design Process
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wachter, JanKarlsruher Institute of TechnologyUNSPECIFIED
Buse, FabianFabian.Buse (at) dlr.deUNSPECIFIED
Mikut, RalfKarlsruher Institute of TechnologyUNSPECIFIED
Date:2019
Journal or Publication Title:2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Accepted
Keywords:Robotics, Force Control, Terramechanics
Event Title:International Conference on Intelligent Robots and Systems
Event Location:Macau, China
Event Type:international Conference
Event Dates:4.-8. Nov. 2019
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 - Project Morex
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Buse, Fabian
Deposited On:12 Jul 2019 10:41
Last Modified:12 Jul 2019 10:41

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