Kinematic modeling and analysis of novel eight-wheel lunar rover

被引：0
|
作者：
高海波 [1 ]
张朋 [1 ]
邓宗全 [1 ]
胡明 [1 ]
机构：
[1] State Key Laboratory of Robotics and Systems, School of Mechatronic Engineering, Harbin Institute of Technology
来源：
Journal of Harbin Institute of Technology(New series) | 2009年 / 06期
基金：
中国国家自然科学基金;
关键词：
kinematic modeling; locomotion system; eight-wheel lunar rover; lunar rover;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.
引用
收藏
页码：751 / 755
页数：5
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