Integrated Control of Locomotion and Manipulation for Lunar-Working Vehicle in Working on Rough Terrains

当工作车辆在崎岖的地形上移动或工作时，我们需要将运动和操纵结合起来。本研究的目的是将这两种功能的姿态控制系统（运动和操纵）整合在一起，形成一个扩展功能和提高可靠性的系统。在首台月球工作车的实验基础上，实现了静态运动和操纵的综合控制。利用其冗余度，车辆可以稳定地工作，并在普通车辆无法移动的粗糙地形上行驶。第二架实验飞行器已经能够进行动态控制。月球上的重力是地球上的六分之一。但是惯性力和地球上的一样。所以当它工作或移动时，车辆很容易摔倒。针对这一问题，研究了低重力环境下工作车辆的姿态控制方法。该方法是一种将反馈控制和前馈控制结合起来，并与所有的手臂和腿合作的方法。月球表面由风化层（如沙子）组成，月球地面非常脆弱。所以当车辆移动或工作时，地面很容易变形。而且车辆很容易打滑。然后，我们也计划了在这样一个薄弱的基础上的控制方法。利用实验工作车和模拟月球六分之一重力和月球弱地面的设备，进行了工作和移动实验，验证了所提控制方法的有效性。

When a working vehicle moves or works on a rough terrain, we need to combine locomotion and manipulation. The purpose of this research is to integrate the two posture control systems of these functions (locomotion and manipulation) and to make a system which spread the functions and improve the reliability. With the first experimental lunar-working vehicle, we have realized the integrated control of locomotion and manipulation staticly. The vehicle can work stably by making use of its redundancy, and locomote on a terrain which is too rough for an ordinary vehicle to move.The second experimental vehicle has become able to control dynamically. On the moon, the gravity is one sixth as on the earth. But inertia force is as same as on the earth. So when it works or moves, the vehicle is liable to fall down. To deal with this problem, we have developed the method of the posture control for the working vehicle under low-gravity environment. The method is one to combine feedback control and feedforward control in co-operation with all its arms and legs.The lunar surface consists of regolith (like sand), and the lunar ground is very weak. So when the vehicle moves or works, the ground is easy to transform. And the vehicle is easy to slip. Then we also have planned the control method on such a weak ground.With the experimental working vehicle and the equipment which could simulate both the one sixth gravity and the weak ground on the moon, we made some experiments of working and moving and confirmed the validity of the proposed control methods.