五轮铰接式月球机器人的运动学建模

本文为在有壕沟、台阶和斜坡的复杂三维地形上行驶的轮式移动机器人提出了一种新的运动学建模方法：切平面拼接法．该方法的主要思想是用机器人在不同时刻不同斜面上的运动学模型组成机器人在崎岖不平地面上行驶的复合运动学模型．该建模方法简单，建模的精确性可以控制．作者用该方法建立了五轮铰接式月球机器人（FWALR）在崎岖不平地面上行驶的正向和逆向运动学模型，为FWALR机器人在复杂三维地形上的运动控制奠定了基础．

KINEMATIC MODELING OF A FIVE-WHEEL ARTICULATED LUNAR ROBOT

This paper presents a new kinematic modeling method for a wheeled mobile robot operating in a 3 dimensional complex terrain with entrenchments, steps, and slopes. The new method is called Tangent Planes Combination Method (TPCM). The main idea of the TPCM is to form a composite kinematics model for a robot operating in rough terrain combining different kinematics models of the robot on different slopes at different time. This kinematic modeling method has characteristics, such as simplicity, a controllable accuracy of a robotic kinematics model, etc. By use of TPCM the forward and inverse kinematics models for a five wheel articulated lunar robot (FWALR) operating in rough terrain was found. Thus, the FWALR robot has a base to control its movement in a 3 dimensional complex terrain.