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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Excavation Dynamics and Control of Shallow Lunar Soil Sampling Manipulator



    Published in:

    Publication date :

    2013-01-25


    Size :

    6 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Percussive Excavation of Lunar Soil

    Whittaker, Matthew P. | NTRS | 2008


    Lunar excavation challenge

    Lawal, A.T. | Online Contents | 2009


    Lunar Regolith Excavation Competition

    Liles, Cassandra | NTRS | 2009


    Mobile continuous lunar excavation

    Paterson, John L. | NTRS | 1992


    FEM and Experimental Analysis of Lunar Soil Excavation Test

    Jiang, Mingjing / Xi, Banglu / Guo, Zhenyu et al. | Springer Verlag | 2023