Computer Science – Robotics
Scientific paper
Jan 1993
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993dpmv.book..509a&link_type=abstract
In CNES, Missions, Technologies, and Design of Planetary Mobile Vehicles p 509-529 (SEE N94-23373 06-91)
Computer Science
Robotics
Automatic Control, Bond Graphs, Control Systems Design, Robot Control, Roving Vehicles, Systems Engineering, Computerized Simulation, Locomotion, Mars Surface, Robotics
Scientific paper
The bond graph modeling, simulation, and reflex control study of the Planetary Automatic Vehicle are considered. A simulator derived from a complete bond graph model of the vehicle is presented. This model includes both knowledge and representation models of the mechanical structure, the floor contact, and the Mars site. The MACSYMEN (French acronym for aided design method of multi-energetic systems) is used and applied to study the input-output power transfers. The reflex control is then considered. Controller architecture and locomotion specificity are described. A numerical stage highlights some interesting results of the robot and the controller capabilities.
Amara Maher
Friconneau Jean Pierre
Micaelli Alain
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