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Simulation and control of a passivel...

University of Maryland, College Park.

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Simulation and control of a passively articulated, segmented-body rover.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Simulation and control of a passively articulated, segmented-body rover./
Author:	Wasserman, Timothy Andrew.
Description:	94 p.
Notes:	Adviser: David L. Akin.
Contained By:	Masters Abstracts International45-05.
Subject:	Engineering, Aerospace. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1443480

Simulation and control of a passively articulated, segmented-body rover.
Wasserman, Timothy Andrew.

Simulation and control of a passively articulated, segmented-body rover. - 94 p.

Adviser: David L. Akin.

Thesis (M.S.)--University of Maryland, College Park, 2007.

Mobility will be a key aspect of future planetary surface missions. A rover with several segments connected by rotary joints promises much capability in terrain traversal, but is not well understood. In this thesis, a computer model was built to simulate the movements of a passively articulated, segmented-body rover. Its main components are a linearized soil-wheel interaction model, a Newton-Euler based dynamic model, and a PD control module to regulate steering and handle disturbances. The simulation outputs were compared against results from past research on fixed-chassis vehicles. Next, the simulation was used to investigate the driving and turning behavior of articulated vehicles, and their controllability using a simple control system. It was found that the vehicle is relatively stable, and that simple control is possible.Subjects--Topical Terms:

1018395
Engineering, Aerospace.

Simulation and control of a passively articulated, segmented-body rover.
LDR:01669nam 2200265 a 45 001 852762
005 20100630
008 100630s2007 ||||||||||||||||| ||eng d
035 $a (UMI)AAI1443480
035 $a AAI1443480
040 $a UMI $c UMI
100 1 $a Wasserman, Timothy Andrew. $3 1018778
245 1 0 $a Simulation and control of a passively articulated, segmented-body rover.
300 $a 94 p.
500 $a Adviser: David L. Akin.
500 $a Source: Masters Abstracts International, Volume: 45-05, page: 2543.
502 $a Thesis (M.S.)--University of Maryland, College Park, 2007.
520 $a Mobility will be a key aspect of future planetary surface missions. A rover with several segments connected by rotary joints promises much capability in terrain traversal, but is not well understood. In this thesis, a computer model was built to simulate the movements of a passively articulated, segmented-body rover. Its main components are a linearized soil-wheel interaction model, a Newton-Euler based dynamic model, and a PD control module to regulate steering and handle disturbances. The simulation outputs were compared against results from past research on fixed-chassis vehicles. Next, the simulation was used to investigate the driving and turning behavior of articulated vehicles, and their controllability using a simple control system. It was found that the vehicle is relatively stable, and that simple control is possible.
590 $a School code: 0117.
650 4 $a Engineering, Aerospace. $3 1018395
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0538
690 $a 0771
710 2 $a University of Maryland, College Park. $3 657686
773 0 $t Masters Abstracts International $g 45-05.
790 $a 0117
790 1 0 $a Akin, David L., $e advisor
791 $a M.S.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1443480