Motor Control Strategies for Drivetrain System of an
Excavation Robot - Martian Surface Simulant

Austin J Crawford; Ryan B Watson; Kenneth Mordi; Uchechukwu C Wejinya

Research Article

Motor Control Strategies for Drivetrain System of an Excavation Robot - Martian Surface Simulant

Austin J Crawford, Ryan B Watson, Kenneth Mordi and Uchechukwu C Wejinya*

Department of Mechanical Engineering, University of Arkansas – Fayetteville, USA

Corresponding Author

Received Date: June 28, 2022; Published Date: August 09, 2022

Abstract

This paper entails motor control system analysis, design, and optimization for an excavation robot for simulated Mars Exploration. The motor control speed system is to be modeled and simulated to achieve a desired rapid, yet smooth response to a change in input. The initial goal of this work is to find a repeatable, generalized step-by-step process that can be used to tune the gains of a PID controller for multiple different operating points. Furthermore, a control strategy is to be discussed which would account for slippage upon the Martian terrain with unknown soil parameters. Both current and future optimization strategies, as well as a comparable testing method are discussed in this manuscript.

Article Details

Citation

Austin J Crawford, Ryan B Watson, Kenneth Mordi, Uchechukwu C Wejinya. Motor Control Strategies for Drivetrain System of an Excavation Robot - Martian Surface Simulant. On Journ of Robotics & Autom. 1(3): 2022. OJRAT.MS.ID.000512.