چكيده به لاتين
All the rovers dispatched to the Solar System's planets, whether designed for routing, experimenting or investigating, in order to sustain on uneven grounds, are devised for low
speeds movements. Improving traversability and mobility of the robot, NASA's engineers
applied several ideas, which are employing the rocker-bogie mechanism, rigid wheels, six
driving wheels, and four-wheel steering. Up to now, none of the rocker-bogie robots were able to traverse all types of obstacles. According to the dynamic limitations of different mechanisms obstacles are divided into two categories, traversable and non-traversable where if the robot traversed the latter one it would roll-over or its wheels would damage. Repairing and maintaining impaired items is not viable in outer-space. Therefore a controller is needed that could decide whether the obstacle is traversable or not; if the latter then by using differentiate steering it would avoid the obstacle.
This thesis hovered around modeling and controlling path and speed Curiosity rover.
SolidWorks and ADAMS/View were employed to model the robot. Co-simulation of the
MATLAB/Simulink and ADAMS used to control the wheels' motors as well as speed and path
of the rover. In the third section of the thesis, the effects of the rocker-joint position investigated. Kinematic and single wheel model, used in SMC, is enlarged in the fourth section. In the fifth section, compared results of the speed and path error with related research, and traversability of the robot in critical conditions (based on the speed of the rover, height of the obstacle and steering), show the effective performance of the proposed controller.
