月球探测车的运动学建模

Kinematics Modeling of the Lunar Rover

给出了六轮摇臂—转向架式月球探测车的运动学建模方法。该模型共有6个自由度,包括沿x、y、z方向的移动和绕x、y、z方向的转动。为了获得月球探测车的位置和姿态,正运动学方程由车轮的雅可比(Jacobian)矩阵推导,并对矩阵方程进行了求解;逆运动学方程为已知探测车本体的运动速度,确定单个车轮的驱动速度,以达到期望的探测车位姿。该运动学模型为月球探测车的运行、运动控制系统的设计及自主导航提供了理论基础。

A method for kinematics modeling of rock-er--bogie mode lunar rover with 6 wheels is described inthis paper. The model is established with full six degreeof freedom motions enabling movements in x, y, z direc-tions. To obtaining its position and pose of the lunarrover, the forward kinematics equations are derived andsolved by using wheel Jacobian matrices. The inversekinematics equations is derived to determine its drivingspeed of the individual wheel under the condition of giv-ing its body speed of the lunar rover, which is to achieveexpected position/pose of the lunar rover. The kinematicsmodel provides theoretical basis for the motion, the de-sign of control system and the autonomous navigation ofthe lunar rover.