Many techniques have been developed for analyzing and evaluating mechanical systems for the purpose of improving design and control, such as the operational space formulation. It has been been shown to be a useful tool when working with robotic manipulators, but has not been extended to consider rovers. Rovers are fundamentally different due to the wheel-ground contact, that does not exist for fixed-base systems. In this paper, several different aspects of the operations space formulation, inertial properties, control, multi-arm systems, redundancy, and unactuated coordinates are investigated in the context of rovers. By considering a different interpretation of the operational space of a rover, several sets of generalized coordinates were chosen to represent the movement of two example rovers. Simulations were performed to demonstrate how these choices of generalized coordinates can be used to analyze various characteristics of the rovers and can improve the behavior for certain maneuvers, such as wheel walking.

References

References
1.
Khatib
,
O.
,
1985
, “
Operational Space Formulation in Robot Manipulator Control
,”
Proceedings of the 15th International Symposium on Industrial Robots
, Japan Industrial Robot Association, Tokyo, Japan, Vol.
1
, pp.
165
172
.
2.
Khatib
,
O.
,
1987
, “
Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation
,”
IEEE J. Rob. Autom.
,
RA-3
(
1
), pp.
43
53
.10.1109/JRA.1987.1087068
3.
Brock
,
O.
,
Khatib
,
O.
, and
Viji
,
S.
,
2002
, “
Task-Consistent Obstacle Avoidance and Motion Behavior for Mobile Manipulation
,”
Proceedings of the IEEE International Conference on Robotics and Automation
, Vol.
1
, pp.
388
393
.
4.
Khatib
,
O.
,
1995
, “
Inertial Properties in Robotic Manipulation: An Object-Level Framework
,”
Int. J. Robot. Res.
,
14
(
1
), pp.
19
36
.10.1177/027836499501400103
5.
De Sapio
,
V.
,
Khatib
,
O.
, and
Delp
,
S.
,
2006
, “
Task-Level Approaches for the Control of Constrained Multibody Systems
,”
Multibody Syst. Dyn.
,
16
(
1
), pp.
73
102
.10.1007/s11044-006-9017-3
6.
Cotton
,
S.
,
Fraisse
,
P.
, and
Murray
,
A. P.
,
2010
, “
On the Manipulability of the Center of Mass of Humanoid Robots, Application to Design
,”
Proceedings of the ASME Design Engineering Technical Conference
, Vol.
2
, Montreal, Quebec, Canada, August 15–18, 2010,
ASME
Paper No. DETC2010-28162, pp.
1259
1267
.10.1115/DETC2010-28162
7.
Haddadin
,
S.
,
Albu-Schäffer
,
A.
, and
Hirzinger
,
G.
,
2008
, “
The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction—Part I: Non-Constrained Blunt Impacts
,”
Proceedings of the IEEE International Conference on Robotics and Automation
, pp.
1331
1338
.
8.
Haddadin
,
S.
,
Albu-Schäffer
,
A.
,
Frommberger
,
M.
, and
Hirzinger
,
G.
,
2008
, “
The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction—Part II: Constrained Blunt Impacts
,”
Proceedings of the IEEE International Conference on Robotics and Automation
, pp.
1339
1345
.
9.
Artemiadis
,
P.
,
Katsiaris
,
P.
,
Liarokapis
,
M.
, and
Kyriakopoulos
,
K.
,
2010
, “
Human Arm Impedance: Characterization and Modeling in 3D Space
,”
Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems
, IROS 2010.
10.
Asada
,
H.
,
1983
, “
Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design
,”
ASME J. Dyn. Syst., Meas., Control
,
105
(
3
), pp.
131
135
.10.1115/1.3140644
11.
Hirschkorn
,
M.
and
Kövecses
,
J.
,
2013
, “
The Role of the Mass Matrix in the Analysis of Mechanical Systems
,”
Multibody Syst. Dyn.
10.1007/s11044-013-9369-4
12.
Khatib
,
O.
,
1993
, “
The Operational Space Framework
,”
JSME Int. J., Ser. C
,
36
(
3
), pp.
277
287
.10.1299/jsmec1993.36.277
13.
Iagnemma
,
K.
,
Rzepniewski
,
A.
,
Dubowsky
,
S.
,
Pirjanian
,
P.
,
Huntsberger
,
T.
, and
Schenker
,
P.
,
2000
, “
Mobile Robot Kinematic Reconfigurability for Rough-Terrain
,”
Proc. SPIE
,
4196
, pp.
413
420
.10.1117/12.403739
14.
Hirschkorn
,
M.
,
2013
, “
Dynamic Analysis of Rovers and Mobile Robots
, Ph.D. thesis, McGill University, Montreal.
15.
Bekker
,
M.
,
1956
,
Theory of Land Locomotion
,
University of Michigan Press, Ann Arbor, MI.
16.
Wettergreen
,
D.
,
Moreland
,
S.
,
Skonieczny
,
K.
,
Jonak
,
D.
,
Kohanbash
,
D.
, and
Teza
,
J.
,
2010
, “
Design and Field Experimentation of a Prototype Lunar Prospector
,”
Int. J. Robot. Res.
,
29
(
12
), pp.
1550
1564
.10.1177/0278364910370217
17.
Ding
,
L.
,
Gao
,
H.
,
Deng
,
Z.
, and
Liu
,
Z.
,
2010
, “
Slip-Ratio-Coordinated Control of Planetary Exploration Robots Traversing Over Deformable Rough Terrain
,”
Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems
, IROS 2010, pp.
4958
4963
.
You do not currently have access to this content.