Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain
Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain
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DOI：
10.1109/robot.2010.5509217
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发表时间：
2010-05
期刊：
影响因子：
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通讯作者：
L. Ding;K. Nagatani;Keisuke Sato;A. Vargas;Kazuya Yoshida;Haibo Gao;Z. Deng
中科院分区：
文献类型：
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作者：
L. Ding;K. Nagatani;Keisuke Sato;A. Vargas;Kazuya Yoshida;Haibo Gao;Z. Deng
轮式移动机器人的运动数值模拟分析在其研发和控制阶段都具有重要意义，特别是由于最近行星探测任务数量的增加。以机器人体的位置/姿态和各关节角为广义坐标，推导了机器人的雅可比矩阵和递推动力学模型。考虑到法向力的影响，引入了用于计算作用在车轮上的力和矩的地球力学模型，这是土壤变形的结果。提出了一种估算轮土相互作用面积、轮陷和终点坐标的粗糙地形建模方法。利用Matlab和SpaceDyn工具箱开发了一个包含上述技术的仿真程序。利用在Toyoura软沙上移动的四轮移动机器人的实验结果验证了仿真的保真度。给出了机器人在随机粗糙地形上移动的仿真实例。
Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models for calculating the forces and moments that act on the wheel—as a result of the deformable soil—are introduced in consideration of the effect of normal force. A rough terrain modeling method is developed for estimating the wheel-soil interaction area, wheel sinkage, and the terminal coordinate. A simulation program that includes the above techniques is developed using Matlab and SpaceDyn Toolbox. Experimental results from a 4-wheeled mobile robot moving on Toyoura soft sand are used to verify the fidelity of the simulation. A simulation example of a robot moving on a random rough terrain is also presented.