TY - GEN
T1 - An adaptive chain-type treadmill-based traction testbed for the wheeled planetary exploration rover
T2 - 15th IEEE International Conference on Automation Science and Engineering, CASE 2019
AU - Yu, Haitao
AU - Li, Cao
AU - Tan, Limeng
AU - Wang, Shengjun
AU - Gao, Haibo
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - This paper present a novel chain-type treadmill-based traction testbed for the wheeled planetary exploration rover. The main objective of this work is to develop a customized testing system executing traction loading to the rover body together with drag torque loading to the individual wheels, providing a synthetic evaluation of the mobility performance of the Mar rover platform. The overall system is composed of a traction loading subsystem to perform the task of traction loading and six modular chain-type treadmill subsystems to provide the drag torques. In order to improve the loading precision onto the target objects of the rover, an adaptive loading control strategy with friction compensation is proposed to satisfy the tailored loading requirements of individual rover wheels as well as the rover body. Finally, the comprehensive experiments of a planetary exploration rover prototype including the synchronous motion tracking, the traction capacity testing as well as the varied wheel drag torque loading are implemented to validate the effectiveness of the devised testbed.
AB - This paper present a novel chain-type treadmill-based traction testbed for the wheeled planetary exploration rover. The main objective of this work is to develop a customized testing system executing traction loading to the rover body together with drag torque loading to the individual wheels, providing a synthetic evaluation of the mobility performance of the Mar rover platform. The overall system is composed of a traction loading subsystem to perform the task of traction loading and six modular chain-type treadmill subsystems to provide the drag torques. In order to improve the loading precision onto the target objects of the rover, an adaptive loading control strategy with friction compensation is proposed to satisfy the tailored loading requirements of individual rover wheels as well as the rover body. Finally, the comprehensive experiments of a planetary exploration rover prototype including the synchronous motion tracking, the traction capacity testing as well as the varied wheel drag torque loading are implemented to validate the effectiveness of the devised testbed.
UR - https://www.scopus.com/pages/publications/85072990218
U2 - 10.1109/COASE.2019.8843186
DO - 10.1109/COASE.2019.8843186
M3 - 会议稿件
AN - SCOPUS:85072990218
T3 - IEEE International Conference on Automation Science and Engineering
SP - 1517
EP - 1523
BT - 2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019
PB - IEEE Computer Society
Y2 - 22 August 2019 through 26 August 2019
ER -