Hiroki Yoshikawa
Tokyo City University, Japan
Takatsugu Oda
Tokyo City University, Japan
Kenichiro Nonaka
Tokyo City University, Japan
Kazuma Sekiguchi
Tokyo City University, Japan
Download article
http://dx.doi.org/10.3384/ecp1612455Published in: The First Japanese Modelica Conferences, May 23-24, Tokyo, Japan
Linköping Electronic Conference Proceedings 124:8, p. 55-60
Published: 2016-05-18
ISBN: 978-91-7685-749-6
ISSN: 1650-3686 (print), 1650-3740 (online)
Modeling of complex robots which consist of mechanical and electric elements has attracted a lot of attention to be utilized for analysis, simulation and development. In this paper, we model the space exploration robot which has leg-wheel mechanisms using Modelica, which is an equation based language and convenient to cope with a complex physical system. In addition, to evaluate the performance of planetary exploration robots, we conduct simulations considering the space environment using the fundamental control system and the robot model. The simulation results indicate that considering load shift due to centrifugal force is important under low gravitational acceleration.
Yutaka Hirano, Shintaro Inoue, and Junya Ota. Modelbased development of future small electric vehicle by modelica. In11th International Modelica Conference, pages143–150, 2015.
Martin Otter, Nguyen Thuy, Daniel Bouskela, Lena Buffoni, Hilding Elmqvist, Peter Fritzson, Alfredo Garro, Audrey Jardin, Hans Olsson, Maxime Payelleville, Wladimir Schamai, Eric Thomas, and Andrea Tundis. Formal requirements modeling for simulation-based verification. In 11th International Modelica Conference, pages 625–635, 2015.
Eric Rohmer, Giulio Reina, and Kazuya Yoshida. Dynamic simulation-based action planner for a reconfigurable hybrid leg-wheel planetary explorationr over. AdvancedRobotics,
24,2010.
Shuan-YuShen, Cheng-Hsin Li, Chih-Chungcheng, Jau-Ching Lu, Shao-Fan Wang, and Pei-Chun Lin. Design of
a leg-wheel hybrid mobile platform. In IEEE/RSJ International Conferenceon Intelligent Robotsand Systems, pages 4682–4687, 2009.
Brian H. Wilcox, Todd Litwin, Jeff Biesiadecki, Jaret Matthews, Matt Heverly, Jack Morrison, Julie Townsend, Norman Ahmad, Allen Sirota, and Brian Cooper. ATHLETE: A cargo handling and manipulation robot for the
moon. Journal of Field Robotics, 27(5): 421–434, 2007.