Coordinated motion control model of a six-wheeled rocker lunar rover

Abstract

At present, control methods of the six-wheeled rocker lunar rover primarily consist of setting the same driving parameters for each wheel. This type of control method ignores the multiple active driving characteristics of the lunar rover and causes parasitic power loss. The main cause of the parasitic power loss is the uncoordinated motion of the driving elements. Therefore, in this article, a coordinated motion programming model of the six-wheeled rocker lunar rover based on the velocity projection theorem, the quasi-static mechanical model, and the rated power of the motor is established to eliminate parasitic loss, reduce driving energy, and improve energy efficiency. The analytical solution of the programming model based on the Kuhn-Tucker condition is also calculated. The coordinated motion control model saves energy, and it is suitable for other wheeled-type planet rovers. This model provides technical support for reducing the energy consumption of planet rovers.

A map-based normalized cross correlation algorithm using dynamic template for vision-guided telerobot

“…Telerobot is a special type of robot, which is widely applied in space stations, undersea detections, telemedicine facilities, and other remote control devices. 1,2 To improve the efficiency of telerobot and release the workload of operator, some smart systems have been designed and applied to tasks including force feedback teleoperation, [3][4][5] to autonomous obstacle avoidance, and so on. 6,7 Vision-based positioning, as an important machine vision technology, is increasingly applied in telerobot systems.…”