The Gravity-Based Approach for Online Recalibration of Wheel Force Sensors

An Instrumented Wheel-On-Limb System of Planetary Rovers for Wheel-Terrain Interactions: System Conception and Preliminary Design

“…The dynamical forces generated on the terrain surface are the concentrated drawbar pull, the normal force, and the wheel-terrain reaction torque, respectively. Such an instrumented wheel can be a wheel force transducer/sensor (WFT) referred to as our previous work [15,16]. Herein, this work is intended for the conventional evaluation and preliminary design of the limb mechanism to support the instrumented wheel.…”

Research on Rotational Angle Measurement for the Smart Wheel Force Sensor

“…It should be pointed out that Equation 6is the result of a theoretical derivation. However, many factors, which could be called error sources, might bring possible errors of the rotational speed evaluation and further affect the accuracy of the rotational angle in the real use [24]. All these error sources may be classified into two types.…”

“…Sensors 2020, 20, x FOR PEER REVIEW 2 of 4 evaluation and further affect the accuracy of the rotational angle in the real use [24]. All these error sources may be classified into two types.…”

“…In Figure 10, the deviation values are described by ∆ and ∆ . In this case, the outputs of the accelerometers follow Equations (22)(23)(24). Thus, the rotational speed could be still calculated by the form of Equation (6), as shown in Equation (25).…”