• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文学位 >Dynamic control and simulation of actively-coordinated robotic terrain-adaptive wheeled vehicles.
【24h】

Dynamic control and simulation of actively-coordinated robotic terrain-adaptive wheeled vehicles.

机译：主动协调式机器人地形自适应轮式车辆的动态控制和仿真。

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Terrain-adaptive vehicles, including legged and wheeled ones, with active coordination possess the ability to distribute the contact forces among the legs/wheels and vary their configuration to accommodate terrain obstacles. Therefore, they are very desirable to be used in many off-road applications that conventional vehicles cannot undertake, such as those in the exploration of planetary surfaces, mining, agriculture, forestry, and military locomotion. This dissertation is directed towards the development of efficient algorithms for the coordination, control, and dynamic simulation of actively-coordinated wheeled vehicle systems.; Force distribution is one of the most important issues to coordinate and control actively-coordinated vehicles. It is associated with the problem of allocation of the desired contact forces among the wheels or legs to balance the resultant inertial force/moment of the vehicle under a commanded motion. An efficient formulation of the force distribution equations for general tree-structured robotic mechanisms is developed. The applicable platforms include not only systems with star topologies, such as walking machines that have multiple legs with a single body, but also general tree-structured mechanisms, such as variably-configured wheeled vehicles having multiple modules.; Several objective functions have also been developed to investigate and control actively-articulated wheeled vehicles. The adopted optimization criteria for the system performance include Minimum Force, Load Balance, and Maximum Safety-Margin. Also, an objective function for the vehicle to cross an obstacle, such as a ditch, is created.; Dynamic simulation is very useful to verify and evaluate the coordination schemes that are developed. It is an important alternative to vehicle trials and demonstrations especially during the early stages of the control development of a system. A dynamic simulator that is able to simulate multiple-module variably-configured wheeled vehicles operating on uneven, faceted terrain is created. An efficient wheel-terrain contact model is developed to compute the contact positions and forces for wheeled vehicles traversing planar surfaces and crossing edges or vertices of the faceted terrain.
机译：具有主动协调能力的地形适应性车辆（包括有腿和轮式车辆）具有在腿部/车轮之间分配接触力并改变其结构以适应地形障碍的能力。因此，非常希望将它们用于常规车辆无法承担的许多越野应用中，例如用于行星表面探测，采矿，农业，林业和军事运动的那些。本文旨在为主动协调式轮式车辆系统的协调，控制和动态仿真开发有效的算法。力分配是协调和控制主动协调车辆的最重要问题之一。这与在车轮或腿之间分配期望的接触力以平衡在指令运动下车辆的合成惯性力/力矩的问题有关。提出了一种通用的树状机器人机构力分布方程的有效公式。适用的平台不仅包括具有星形拓扑的系统（例如具有多条腿且一体的步行机），还包括一般的树状结构机构（例如具有多个模块的可变配置轮式车辆）。还开发了一些目标功能来研究和控制主动铰接式轮式车辆。系统性能采用的优化标准包括最小力，负载平衡和最大安全裕度。此外，创建了车辆越过障碍物（例如沟渠）的目标函数。动态仿真对于验证和评估已开发的协调方案非常有用。它是车辆试验和演示的重要替代方法，尤其是在系统控制开发的早期阶段。创建了一个动态模拟器，该模拟器能够模拟在不平坦多面地形上运行的多模块可变配置轮式车辆。开发了一种有效的轮-地形接触模型，以计算轮式车辆横越多平面地形的平面表面和相交边或顶点的接触位置和力。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号