tailieunhanh - Mobile Robots Current Trends Part 14

Tham khảo tài liệu 'mobile robots current trends part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Advances in Simulation of Planetary Wheeled Mobile Robots 379 Simulation contents Explanation Purpose Examples of simulation tools Forward kinematics Calculates the position and yaw angle of a rover according to feedback information of pitch and roll angles and the positions of motors and joints Determines the position and orientation of a rover dead reckoning method Matlab VC Inverse kinematics Calculates the altitude pitch and rock angles of the rover as well as the positions of motors and joints given the yaw angle horizontal position of a rover and the path on known terrain Analyzes the stability and traversability of a rover while following a certain path Dynamics Used in research on wheelsoil interaction mechanics multi-body dynamics and methods for solving differential equations with high efficiency Analyzes the dynamics performance such as vibratility and the ability to overcome obstacles the basis for designing control strategy ADAMS DADS Vortex Control strategy Used in research on control strategies of a rover s locomotion path planning path following and intelligent navigation Develops a program for rover control Matlab Visualization Builds a visual virtual simulation environment according to topography and surface features of the planet and the rover s configuration Provides a visualization platform for virtual simulation Vega 3D Max MultiGen Creator Table 1. Rover simulation and tools RCET RPET and RCAST developed in Europe Mars rover chassis evaluation tools RCET have been developed in Europe to support the design of planetary rovers Michaud et al. 2006 . RCET which was developed jointly by Contraves Space Ecole Polytechnique Fédérale de Lausanne the German Aerospace Center DLR and others accurately predicts the rover performances of the locomotion subsystem. It consists of a two-dimensional 2D rover simulator that uses a tractive prediction module to compute the wheel ground interaction. 3D simulation can also be performed with the help of .