Kinematic modeling of a high mobility Mars rover

Tarokh, Mahmoud; McDermott, G.; Hayati, S.; Hung, J. C.

doi:10.1109/robot.1999.772441

Cited by 58 publications

(31 citation statements)

References 6 publications

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“…The formulation of the forward and inverse kinematics closely follows that of [10,11], with significant extensions being made for 6 wheel steering. Greater details of the kinematic derivations can be found here [10,11,12].…”

Section: Kinematic Algorithmsmentioning

confidence: 99%

Path following using visual odometry for a Mars rover in high-slip environments

Helmick

Cheng

Clouse

et al.

2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720)

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Abstract-An architecture for autonomous operation of Mars rovers in high slip environments has been designed, implemented, and tested. This architecture is composed of several key technologies that enable the rover to accurately follow a designated path, compensate for slippage, and reach intended goals independent of the terrain over which it is traversing (within the mechanical constraints of the mobility system).

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Section: Kinematic Algorithmsmentioning

confidence: 99%

Path following using visual odometry for a Mars rover in high-slip environments

Helmick

Cheng

Clouse

et al.

2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720)

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“…In view of the fact that the inverse of the transformation matrix is equal to the inverse chain transformation matrix, one has the following: (8) By evaluating the partial derivatives and substituting in equation (7), velocity components of joint angles are factorized in the right side of equation (8) and velocity vector is extracted. The jacobian matrix for each wheel is derived as in equation (9): [ Where q is the joint variable vector defined in section 2.1 and its components is different for each wheel.…”

Section: Wheel Jacobian Matricesmentioning

confidence: 99%

“…translation in the x-y plane and yaw rotation. A general approach to kinematic modelling of articulated rovers traversing uneven terrain was developed by Tarokh et al (1999). Later on, three forms of kinematics, i.e.…”

Section: Introductionmentioning

confidence: 99%

Kinematics Analysis and Simulation of a Rocker Bogie Mobile Robot

Dashti¹,

El-hami²

2015

International Conference on Advances in Civil, Structural and Mechanical Engineering - ACSM 2015

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-For a wheeled mobile robot in rough terrain, one of the known suspension systems is the rocker-bogie mechanism. The high mobility of the robot, moving in 3 dimensions with 6 degrees of freedom makes the kinematics modelling as a challenging task. In this paper, a full 6-DOF kinematic model of a rocker-bogie mobile robot is presented. The A matrices has been derived based on Denavit-Hartenberg coordinate transformation approach. The kinematic equations and Jacobian matrices for the wheels are derived which relates the rover velocity vector with wheel angular velocities and joint angular rates. Furthermore, a rover-terrain model is developed to obtain the necessary joint angles and some attitude angles by solving nonlinear optimization equations. Finally, the robot model is also constructed in MD Adams and simulations are carried out to verify the kinematics model. The results show very close match of kinematic model and simulation in rough terrain trajectory.

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“…The rockerbogie joints β , ρ 1 and ρ 2 provide for compliance with the terrain and are measured by potentiometers. (TAROKH et al, 1999). The others angles are measured by encoders.…”

Section: Rocker Bogiementioning

confidence: 99%

Design of a Rover to precision agriculture applications

Diaz¹,

Faber²

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Kinematic modeling of a high mobility Mars rover

Cited by 58 publications

References 6 publications

Path following using visual odometry for a Mars rover in high-slip environments

Path following using visual odometry for a Mars rover in high-slip environments

Kinematics Analysis and Simulation of a Rocker Bogie Mobile Robot

Design of a Rover to precision agriculture applications

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