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

月球工作车崎岖地形作业运动与操纵集成控制

基本信息

批准号：
01460123
负责人：
IGUCHI Masakazu
金额：
$ 4.29万
依托单位：
University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1989
资助国家：
日本
起止时间：
1989 至 1990
项目状态：
已结题

项目摘要

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.

当作业车辆在崎岖的地形上移动或作业时，我们需要将移动和操纵结合起来。本研究的目的是将这些功能（运动和操纵）的两个姿态控制系统集成起来，形成一个分散功能并提高可靠性的系统。我国首艘实验月球车实现了静态运行与操控一体化控制。该车辆可以利用其冗余度稳定工作，并可以在普通车辆无法移动的崎岖地形上行驶。第二辆实验车已具备动态控制能力。在月球上，重力是地球上的六分之一。但惯性力与地球上的一样。因此，当车辆工作或移动时，车辆很容易摔倒。针对这一问题，我们开发了低重力环境下作业车姿态控制方法。该方法是一种将反馈控制和前馈控制结合起来，四肢协作的方法。月球表面由风化层（如沙子）组成，月球地面非常脆弱。因此当车辆行驶或工作时，地面很容易发生变形。而且车辆容易打滑。然后我们也规划了这种软弱地面的控制方法。利用实验工作车和能够同时模拟六分之一重力和月球软弱地面的设备，进行了工作和移动实验，验证了所提出控制方法的有效性。