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Development of a dynamic simulator of a mobile robot for astronaut assistance
2008 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The need for robotic assistance has been identified to be essential in the space exploration missions. The hazardous space exploration environment is extremely difficult for humans but manageable for robots. Thus robots can be valuable aid even in simple tasks like scouting, moving objects and doing measurements. This work is targeted for a centauroid robot, called WorkPartner, which can perform many of these required tasks. The WorkPartner is a mobile service robot, which is designed to work interactively with people and it is currently used within the ESA NP (Network Partnering) programme to research astronaut-robot cooperation. The core of the thesis work is to create a dynamic simulation model of the WorkPartner robot by using ODE (Open Dynamics Engine) software. The modelling software should incorporate an accurate model of the robot, including joint lengths, masses, joints, actuators and sensors. The development of the sensor models that are simulated in the model is also necessary. All of the model's sensors and actuators are provided as modular services using a TCP/IP interface. The goal of the thesis is to evaluate the model by comparing it with the real WorkPartner robot. This can be done for example by comparing the joint torques during rolking, which has already been studied at TKK. A realistic dynamic robot model is useful for the control development of the robot, and can be used to predict its behaviour e.g. in tele-operated tasks. The scientific approach of the thesis is achieved by verifying the mathematical concepts behind the model and also calculating and verifying the performance level and limitations of the model. The thesis will support Mr. Seppo Heikkilä's Ph.D. study, the topic of which is "Astronaut and robot cooperation for natural and seamless task execution". The research is supported by ESA.

Place, publisher, year, edition, pages
Keyword [en]
Technology, robot simulator, simulation, WorkPartner, modular simulator, modeling
Keyword [sv]
URN: urn:nbn:se:ltu:diva-57695ISRN: LTU-PB-EX--08/119--SELocal ID: e560ce3d-45bc-401b-9e2e-5e1de462d7b6OAI: diva2:1031083
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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