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Mobility and autonomous reconfiguration of Marsokhod
2009 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

We investigate the mobility of Marsokhod onto which we have installed new hardware. We introduce backlash compensation for the arm joints, and wheel control with a continuous duty cycle. Calibration of the wheels allows us to measure the load on the wheels accurately. The robot responds autonomously to the level of the supply voltage, the information of the accelerometer, and the load on the wheels. The overall performance is a smooth superposition of individual behaviours. Our control software has a simple interface. An operator commands the robot to conduct advanced motions with only a joystick.

Place, publisher, year, edition, pages
Keyword [en]
Technology, automation, autonomous reconfiguration, Marsokhod, Mars rover, mobility, optimal control, robotics
Keyword [sv]
URN: urn:nbn:se:ltu:diva-49398ISRN: LTU-PB-EX--09/047--SELocal ID: 6bd41ad8-6646-471e-9d8d-86fc590f4e32OAI: diva2:1022745
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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