Excavation Dynamics and Control of Shallow Lunar Soil Sampling Manipulator

Lei Liang; Hong Liu Wang; Yang Zhao

doi:10.4028/www.scientific.net/AMR.651.852

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 651Excavation Dynamics and Control of Shallow Lunar...

Excavation Dynamics and Control of Shallow Lunar Soil Sampling Manipulator

Abstract:

The lunar soil excavation dynamics and control are complicated because of the high coupling among manipulator, backhoe device and lunar soil with uncertain parameters. To solve this problem, a multi-body dynamic model, regard the lunar soil backhoe device as the terminal link of the manipulator is developed using supposed link method, and then the excavation dynamics is modeling on the combination of the multi-body dynamic and Balovnev soil-tool interaction formula. Based on this model, an excavation trajectory tracking controller is realized via fuzzy-computed torque method. To reduce the affection of the excavation resistance to control precision, online lunar soil parameters estimation is held in the early stage of the excavation process, and the excavation resistance compensation, determined by those estimation results, is added to the tracking controller using feed-forward form. Simulation results indicate that the controller effective, which has the characteristics of fast tracking and high control precision.

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Periodical:

Advanced Materials Research (Volume 651)

Pages:

852-857

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.651.852

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Online since:

January 2013

Authors:

Lei Liang, Hong Liu Wang, Yang Zhao

Keywords:

Excavation Dynamics, Excavation Resistance Compensation, Hallow Lunar Soil, Sampling Manipulator, Soil-Tool Interaction, Supposed Link

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