Research Papers

Quasi-Static Motion Simulation and Slip Prediction of Articulated Planetary Rovers Using a Kinematic Approach

[+] Author and Article Information
Faiz Benamar

e-mail: amar@isir.upmc.fr

Christophe Grand

e-mail: grand@isir.upmc.fr
Institut des Systèmes
Intelligents et de Robotiques,
Université Pierre et Marie Curie Paris 6,
CNRS UMR 7222,
4, place jussieu,
75252 Paris Cedex 05, France

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received November 29, 2011; final manuscript received February 5, 2013; published online March 26, 2013. Assoc. Editor: Andrew P. Murray.

J. Mechanisms Robotics 5(2), 021002 (Mar 26, 2013) (13 pages) Paper No: JMR-11-1136; doi: 10.1115/1.4023873 History: Received November 29, 2011; Revised February 05, 2013

Wheel slips are unavoidable when moving on a 3D rough surface. They are mainly due to geometrical features of contact surfaces. In this paper, we propose a model for predicting rover motion and contact slips by using a kineto-static model coupled with a linear contact model derived from semiempirical tire/terramechanics approaches. The paper also introduces a coherent approach for motion simulation of uneven articulated rovers which is computationally efficient and can then be used for autonomous on-line path planning. Model results are compared to another numerical model based on a multibody dynamic model including frictional contacts. The well-known rocker-bogie chassis, a highly articulated structure, is chosen to illustrate results and their comparison. Results demonstrate that for a slow motion, the proposed model approximates with a good accuracy the general behavior of the robot with a minimal time computation.

Copyright © 2013 by ASME
Topics: Simulation , Wheels , Robots
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Fig. 1

Serial kinematic chain

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Fig. 2

Transformation matrices between joint, contact and task frames in both velocity and force domains

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Fig. 3

Friction models comparison

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Fig. 4

Iterative process for computing the initial complete robot pose

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Fig. 5

Kinematics of a rocker-bogie rover and joint parameters

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Fig. 6

Kinematic dimensions of the rocker-bogie robot

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Fig. 7

Simulation scheme of rover quasi-static motion

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Fig. 8

Adams GUI: crossing two shifted sigmoids

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Fig. 9

Configuration parameters as function of x abscissa: kineto-static model (red) versus dynamic model (blue) (as shown in the online version)

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Fig. 10

Lateral slip velocity as function of x abscissa: kineto-static model (red) versus dynamic model (blue) (as shown in the online version)

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Fig. 11

Longitudinal slip velocity as function of x abscissa: kineto-static model (red) versus dynamic model (blue) (as shown in the online version)

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Fig. 12

Normal forces as function of x abscissa: kineto-static model (red) versus dynamic model (blue) (as shown in the online version)

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Fig. 13

Adams GUI: crossing diagonally a corrugated surface

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Fig. 14

Performed path and yaw angles: kineto-static model (red) versus dynamic model (blue) (as shown on the online version)

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Fig. 16

Trajectory comparison of middle wheel centers when traveling on a highly rough surface




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