Multi-target coordinated control of wheel-legged Mars rover

被引：0
|
作者：
Sun Y. [1 ]
He J. [1 ]
Xing Y. [2 ]
机构：
[1] School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai
[2] Beijing Institute of Control Engineering, Beijing
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2021年 / 42卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Coordinated control; Joint simulation; Kinematics; Wheel-legged robots; ZMP method;
D O I：
10.7527/S1000-6893.2020.24246
中图分类号：
学科分类号：
摘要：
The Mars exploration mission requires the robot to be dynamically stable and adaptive to the unknown irregular terrain. This paper proposes a multi-target coordinated control strategy for a wheel-legged Mars exploration robot based on the inverse kinematics model, the vehicle body attitude and the wheel-to-ground contact force. Through kinematic modeling of vehicle attitude adjustment, the first-order low-pass filtering and leg impedance control algorithm, and the center of gravity height adjustment algorithm based on the leg motion hazard coefficient, we realize the tracking control of the vehicle body attitude, wheel-ground constant force contact control and the optimal control of the center of gravity height, thereby improving the self-adaptability, movement stability and the safety of the leg movement space when the wheel-legged robot passes unstructured topographies. The effectiveness of this control strategy proposed in this paper is verified by the joint simulation of MATLAB and UG. © 2021, Beihang University Aerospace Knowledge Press. All right reserved.
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