search query: @author Hakenberg, Jan Philipp / total: 1
reference: 1 / 1
« previous | next »
Author: | Hakenberg, Jan Philipp |
Title: | Mobility and autonomous reconfiguration of Marsokhod |
Publication type: | Master's thesis |
Publication year: | 2008 |
Pages: | 58 Language: eng |
Department/School: | Automaatio- ja systeemitekniikan laitos |
Main subject: | Automaatiotekniikka (Aut-84) |
Supervisor: | Halme, Aarne ; Hyyppä, Kalevi |
Instructor: | Elomaa, Mikko |
OEVS: | Electronic archive copy is available via Aalto Thesis Database.
Instructions Reading digital theses in the closed network of the Aalto University Harald Herlin Learning CentreIn the closed network of Learning Centre you can read digital and digitized theses not available in the open network. The Learning Centre contact details and opening hours: https://learningcentre.aalto.fi/en/harald-herlin-learning-centre/ You can read theses on the Learning Centre customer computers, which are available on all floors.
Logging on to the customer computers
Opening a thesis
Reading the thesis
Printing the thesis
|
Location: | P1 Ark Aalto 5143 | Archive |
Keywords: | automation autonomous reconfiguration Marsokhod Mars rover mobility optimal control robotics |
Abstract (eng): | 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. |
ED: | 2008-09-25 |
INSSI record number: 36310
+ add basket
« previous | next »
INSSI