Static force distribution and orientation control for a rover with an actively articulated suspension system
Static force distribution and orientation control for a rover with an actively articulated suspension system
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DOI：
10.1109/iros.2017.8206412
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发表时间：
2017-09
期刊：
影响因子：
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通讯作者：
F. Cordes;Ajish Babu;F. Kirchner
中科院分区：
文献类型：
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作者：
F. Cordes;Ajish Babu;F. Kirchner
本文介绍了用于适应主动铰接悬架系统的漫游车SherpaTT不规则地形的控制策略。与物理系统的方法进行实验验证，并提出。构成悬架系统的腿的协调控制被封装在地面适应过程（GAP）中，该过程独立于高级运动命令而操作。差距利用力和方向测量来控制具有20个主动自由度的悬架系统。主动悬架用于实现多目标地形适应，包括（i）车轮-地面接触点处的主动力分布，（ii）保持所有车轮永久地面接触，以及（iii）相对于地面的车身方向。重力
This paper presents the control strategies used to adapt the actively articulated suspension system of the rover SherpaTT to irregular terrain. Experimental validation of the approach with the physical system is conducted and presented. The coordinated control of the legs constituting the suspension system is encapsulated in a Ground Adaption Process (GAP) that operates independently from high level motion commands. The GAP makes use of force and orientation measurements to control the suspension system with 20 active degrees of freedom. The active suspension is used to achieve multi-objective terrain adaption encompassing (i) active force distribution at the wheel-ground contact points, (ii) keeping all wheels in permanent ground contact, and (iii) body orientation w.r.t. gravity.