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Simulation and control of a passivel...

University of Maryland, College Park.

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Simulation and control of a passively articulated, segmented-body rover.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Simulation and control of a passively articulated, segmented-body rover./
作者:	Wasserman, Timothy Andrew.
面頁冊數:	94 p.
附註:	Adviser: David L. Akin.
Contained By:	Masters Abstracts International45-05.
標題:	Engineering, Aerospace. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1443480

Simulation and control of a passively articulated, segmented-body rover.
Wasserman, Timothy Andrew.

Simulation and control of a passively articulated, segmented-body rover. - 94 p.

Adviser: David L. Akin.

Thesis (M.S.)--University of Maryland, College Park, 2007.

Mobility will be a key aspect of future planetary surface missions. A rover with several segments connected by rotary joints promises much capability in terrain traversal, but is not well understood. In this thesis, a computer model was built to simulate the movements of a passively articulated, segmented-body rover. Its main components are a linearized soil-wheel interaction model, a Newton-Euler based dynamic model, and a PD control module to regulate steering and handle disturbances. The simulation outputs were compared against results from past research on fixed-chassis vehicles. Next, the simulation was used to investigate the driving and turning behavior of articulated vehicles, and their controllability using a simple control system. It was found that the vehicle is relatively stable, and that simple control is possible.Subjects--Topical Terms:

1018395
Engineering, Aerospace.

Simulation and control of a passively articulated, segmented-body rover.
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245 1 0 $a Simulation and control of a passively articulated, segmented-body rover.
300 $a 94 p.
500 $a Adviser: David L. Akin.
500 $a Source: Masters Abstracts International, Volume: 45-05, page: 2543.
502 $a Thesis (M.S.)--University of Maryland, College Park, 2007.
520 $a Mobility will be a key aspect of future planetary surface missions. A rover with several segments connected by rotary joints promises much capability in terrain traversal, but is not well understood. In this thesis, a computer model was built to simulate the movements of a passively articulated, segmented-body rover. Its main components are a linearized soil-wheel interaction model, a Newton-Euler based dynamic model, and a PD control module to regulate steering and handle disturbances. The simulation outputs were compared against results from past research on fixed-chassis vehicles. Next, the simulation was used to investigate the driving and turning behavior of articulated vehicles, and their controllability using a simple control system. It was found that the vehicle is relatively stable, and that simple control is possible.
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