Design, Control, and Experimentation of Internally-Actuated Rovers for the Exploration of Low-Gravity Planetary Bodies

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• 刊名：Springer Tracts in Advanced Robotics
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：113
• 期：1
• 页码：283-298
• 全文大小：705 KB
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• 作者单位：B. Hockman (5)
  A. Frick (6)
  I. A. D. Nesnas (6)
  M. Pavone (5)
  
  5. (Project PI) Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA
  6. Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA
  
• 丛书名：Field and Service Robotics
• ISBN：978-3-319-27702-8
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Control Engineering
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1610-742X

文摘

In this paper we discuss the design, control, and experimentation of internally-actuated rovers for the exploration of low-gravity (micro-g to milli-g) planetary bodies, such as asteroids, comets, or small moons. The actuation of the rover relies on spinning three internal flywheels, which allows all subsystems to be packaged in one sealed enclosure and enables the platform to be minimalistic, thereby reducing its cost. By controlling the flywheels’ spin rates, the rover is capable of achieving large surface coverage by attitude-controlled hops, fine mobility by tumbling, and coarse instrument pointing by changing orientation relative to the ground. We discuss the dynamics of such rovers, their control, and key design features (e.g., flywheel design and orientation, geometry of external spikes, and system engineering aspects). The theoretical analysis is validated on a first-of-a-kind 6 degree-of-freedom (DoF) microgravity test bed, which consists of a 3 DoF gimbal attached to an actively controlled gantry crane.