Dynamic Modeling, Simulation and Velocity Control of Rocker-Bogie Rover for Space Exploration

Dynamic Modeling, Simulation and Velocity Control of Rocker-Bogie Rover for Space Exploration

Pushpendra Kumar (Indian Institute of Technology, Roorkee, India) and Pushparaj Mani Pathak (Indian Institute of Technology, Roorkee, India)
Copyright: © 2011 |Pages: 15
DOI: 10.4018/ijimr.2011040103
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Abstract

Wheeled mobile rovers are being used in various missions for planetary surface exploration. In this paper a six-wheeled rover with rocker-bogie structure has been analyzed for planar case. The detailed kinematic model of the rover was built and the dynamic model was derived based on bond graph. The simulation studies were performed for obstacle climbing capability of the rover. It was observed from the study that rover can pass through plane surface, inclined surface, and inclined ditch without any control on the actuators of the rover. However, it fails to cross a vertical ditch so a velocity controller was designed. It consists of a proportional integral (PI) controller and reduced model of the rover. It is found from simulation and animation studies that with the proposed velocity controller the rover is able to cross the vertical ditch.
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2. Kinematics Formulation

In this section the rover is briefly presented and the kinematic modeling is derived. Figure 1 shows the schematic diagram of rocker bogie rover. The rover has different elements, which are assumed to be rigid. The rover consists of several joints. By adjusting its joints the rover is capable of locomotion over various uneven terrains. The rocker bogie structure has six independently driven wheels which are mounted on an articulated passive suspension system.

Figure 1.

Schematic diagram of rocker bogie rover

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