Analysis and traction control of a rocker-bogie planetary rover
Name
42251055-MIT.pdf
Description
Full printable version
Size
6.48 MB
Format
Adobe PDF
Checksum (MD5)
8ef7c3436c37363b2a5be5a83eb7c6ae
Author(s)
Hacot, Hervé, 1974-
Advisor(s)
Steven Dubowsky.
Date Issued
1998
Publisher
Massachusetts Institute of Technology
Abstract
Robotic rovers have become important tools in planetary exploration. Future missions require improved rover performance. This thesis presents an analysis of a six-wheeled prototype rover. Its design is based on the rockerbogie configuration. A procedure is presented which can rapidly compute the configuration of the rover as a function of its environment. Also, a quasi-static force analysis of the system is detailed. It considers realistic physical constraints such as wheel slip and actuator saturation. A computer simulation with a graphic interface is developed to evaluate performance and enhance the understanding of the system. The analysis leads to the design of a fuzzy logic controller that increases rover traction and mobility. Analytical and experimental studies are performed to validate the analysis and control scheme.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998.
Includes bibliographical references (leaves 86-90).
Subjects
Mechanical Engineering
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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