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 Wysłany: Pon 16:29, 06 Gru 2010 Temat postu: ugg boots billig Six Cylinder - Cone wheeled lunar |
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Six Cylinder - Cone wheeled lunar rover several rounds of coordinated motion control
Interface Fig. 8Interfaceoftele-operatedcontrolprogram several rounds of coordination in order to verify the accuracy of the control model, planning a lunar rover as shown in Figure 9, the trajectories pass through the remote operating vehicle control system. Vehicle control system according to the established model of multiple rounds of coordinated control, given six wheel motor command signals to drive the motor turning the wheel to complete the desired movement. X ・ Pi t a t beetle butterfly, ...: ... # - $ # # ... shake a jump to jump,[link widoczny dla zalogowanych],,, You Yue Figure 9 rover motion planning path Fig. 9Rovermotionplanningpath Figure 1O left in the wheel speed curve Fig. 10Middleleftwheelspeedcurve experiment, the left wheel speed curve shown in Figure 10, steady speed, the speed of other wheels change is also similar, the actual trajectory of the rover confirmed by several rounds of coordinated control model is correct. 4 Conclusion of a cone six wheeled rover cylindrical body principle and structure characteristics, based on kinematic constraints, the establishment of a lunar rover kinematic constraint model,[link widoczny dla zalogowanych], the basic movement for the requirements of the rover, the rover is derived six rounds of coordinated motion control model. Experimental study not only validate the many rounds of coordinated motion control model is correct, you can draw the following conclusions: 1) six-wheeled rover cylinder movement of a flexible cone, the more impaired superior performance, has a strong ability to adapt to complex terrain. 2) Based on real-time Linux and PC104 bus computer motion control system is stable and reliable motion control system design for the future foundation. Meanwhile, the lunar rover probe complexity of the environment requires further study dynamics, soil contact mechanics, control strategies for future autonomous lunar rover lay the foundation for detection avoidance. References: [1] Ouyang, Li, the Zouyong Liao, et al. Progress in lunar exploration and lunar exploration in China [J]. Science Foundation of China, 2003,17 (4) :193-197. OUYANGZiyuan, IIChunlai, ZHOUYongliao, eta1. TheprogressoflunarexplorationandChineselunarex-plorationproject [J]. BulletinofNationalNaturalScienceFoundationofChina, 2003,17 (4) :193-197. [21 Liu Xiaochuan. The development of lunar exploration of key technologies [J]. China Aerospace ,2003,7:39-44. LIUXiaochuan. Analysisofkeytechnologiesdevelop-mentoflunarexploration [J]. AerospaceChina ,2003,7:39-44. [3] Tao Jianguo, DENG Zong-wide, high-Hyperion. Six-wheeled lunar rover cylinder a cone design [J]. Harbin Institute of Technology University, 2006,[link widoczny dla zalogowanych],38 (1) :4-7. TAOJianguo, DENGZongquan, GAOHaibo, eta1. Designofalunarroverwithsixcylinderconicalwheels [J]. JournalofHarbinInstituteofTechnology, 2006,38 (1) :4-7. [4] MuIRPF,[link widoczny dla zalogowanych], NEUMANCP. Kinematicmodelingofmo-bilerobots [J]. JournalofRoboticSystem, 1987,[link widoczny dla zalogowanych],4 (2) :281-340. [5] LEucHTA. Hardreal-timecapabilityunderLinux-de-velopmentwithinthemicro-Kernelreal - timearchitecture [J]. ElectronEng (London), 2002,74 (901): 5O a 51. [6] PROCT () RF. MeasuringperformanceinrealtimeLinux [Z]. [S. nJ: TheMathworks, Inc, 2001.
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