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Accession Number N20130009064
Title Ground Contact Modeling for the Morpheus Test Vehicle Simulation.
Publication Date Aug 2013
Media Count 6p
Personal Author L. Cordova
Abstract The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.
Keywords Autonomy
Contact loads
Drop tests
Ground tests
Kinetic friction
Polygons
Robotics
Simulation
Static friction
Surface geometry
Test vehicles
Vertical landing
Vertical takeoff


 
Source Agency National Aeronautics and Space Administration
NTIS Subject Category 62 - Computers, Control & Information Theory
Corporate Author National Aeronautics and Space Administration, Houston, TX. Lyndon B. Johnson Space Center.
Document Type Conference proceedings
Title Note N/A
NTIS Issue Number 1319
Contract Number NNJ08HA01C

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