Teleprogramming the motions of a planetary robot using physical models and dynamic simulation tools
Résumé
The contribution presented in the paper is a motion generator whose purpose is to instanciate a nominal motion plan into a more complete motion plan referred as the executive model. The nominal motion plan is expressed in terms of a channel to follow and a set of intermediate subgoals to reach. The nominal motion plan is expressed in terms of a channel to follow and a set of intermediate subgoals to reach. The basic idea is to make use of appropriate physical models and dynamic simulation tools for predicting the behavior of the vehicle.