Article | Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017 | Modeling and Simulation of Wheel Driving Systems based on Terramechanics for Planetary Explanation Rover using Modelica Linköping University Electronic Press Conference Proceedings
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Title:
Modeling and Simulation of Wheel Driving Systems based on Terramechanics for Planetary Explanation Rover using Modelica
Author:
Hiroki Yoshikawa: Mechanical Systems Engineering, Tokyo City University, Japan Takatsugu Oda: Mechanical Systems Engineering, Tokyo City University, Japan Kenichiro Nonaka: Mechanical Systems Engineering, Tokyo City University, Japan Kazuma Sekiguchi: Mechanical Systems Engineering, Tokyo City University, Japan
DOI:
10.3384/ecp17132901
Download:
Full text (pdf)
Year:
2017
Conference:
Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017
Issue:
132
Article no.:
099
Pages:
901-907
No. of pages:
7
Publication type:
Abstract and Fulltext
Published:
2017-07-04
ISBN:
978-91-7685-575-1
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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Planetary exploration rovers have to accomplish various missions on uneven and loose terrain. In recent years, systems of rovers adopting terramechanics which determine the force and moment characteristics of the wheel on loose soil is studied. In this study, using Modelica language, we construct a wheel model based on terramechanics, and we identify the wheel characteristics as a linear for a control. We conduct a numerical simulation of the rover using a controller including the identified longitudinal force model. It is shown that when the rover follows a straight line on a plane, the longitudinal force model identified using known soil parameters has sufficient accuracy on the wheel response based on terramechanics and could be used as a control model.

Keywords: Terramechanics, modeling, identification, space robots, control system

Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Author:
Hiroki Yoshikawa, Takatsugu Oda, Kenichiro Nonaka, Kazuma Sekiguchi
Title:
Modeling and Simulation of Wheel Driving Systems based on Terramechanics for Planetary Explanation Rover using Modelica
DOI:
http://dx.doi.org/10.3384/ecp17132901
References:

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Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Author:
Hiroki Yoshikawa, Takatsugu Oda, Kenichiro Nonaka, Kazuma Sekiguchi
Title:
Modeling and Simulation of Wheel Driving Systems based on Terramechanics for Planetary Explanation Rover using Modelica
DOI:
https://doi.org10.3384/ecp17132901
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