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Research on Pridictive Display for Continuous Teleoperation of Lunar Rovers

Author: LiWeiHua
Tutor: GaoHaiBo
School: Harbin Institute of Technology
Course: Aviation Aerospace Manufacturing Engineering
Keywords: Lunar rover Teleoperation Simulation Online correction
CLC: TP242.6
Type: Master's thesis
Year: 2011
Downloads: 34
Quote: 0
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Abstract


In recent years , the worldwide set off a new round of lunar exploration climax , \Lunar rover is an important part \Based on projections show continuous teleoperation technology that enables the effective control of the lunar rover . This article is mainly for the the lunar rover continuous away operation forecast display technology research . This article in wheel contact mechanics research has been made based on Vortex Dynamics platform based of Canada CMLabs developed , mobile systems for lunar rover developed a real-time high-fidelity lunar rover predictive simulation platform - ROSTDyn and in fact, when tested , provides a foundation platform for continuous teleoperation forecasts show . Based on the platform for the remote control system based on the forecast shows some of the key technologies of the lunar rover continuous teleoperation : based on projections show continuous remote control system design , analysis in the presence of delay continuous workflow teleoperation system . The topics detailed analysis of the prediction error teleoperation process , and based the lunar wheel interaction mechanics model system to study the projections indicate that the model line error correction theory , online correction algorithm proposed prediction model , last ROSTDyn forecast simulation platform for its validation . The theoretical analysis and research for the stability and transparency of the of continuous lunar rover teleoperation system to provide theoretical guidance for the follow-up continuous realization of the remote control system . In this paper, the the lunar rover principle prototype to validate the prediction accuracy of the the lunar rover prediction simulation platform developed . Ascent and crossing slopes test , according to the two sets of tests : the slip rate , the amount of settlement and wheel - ground interaction test results and simulation results are compared , prove ROSTDyn higher prediction accuracy to meet the continuous remote the operating projections indicate the need to . In this paper forecasts show a simulation platform for research and development , as well as the continuous remote operating system technology , for follow-up based on projections indicate the lunar rover continuous away has laid the foundation for the realization of the operating system .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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