Abstract
Planetary surface is covered by soft soil. Thus wheel slips and gets stuck easily. Wheel slippage causes wheel stuck, navigation error, and difficulty in climbing slopes. Purpose of this research is to develop wheel control system for efficient travelling on soft soil. The efficient travelling is that a rover is able to travel on high speed and small wheel slippage on soft soil. Considering strong control system for disturbance, it is important to incorporate terramechanics theory. In this paper, wheel dynamics model based on terramechanics is proposed, and the dynamics model is verified it is appropriate for dynamic motion by simulation analysis.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.