Locomotion Performance Analysis of the Lunar Rover on a Slope

摘要：

In this paper, the stability and locomotion of the lunar rover on a slope is studied. Based on the analysis of a single wheels force model and the mechanism constraints of “Rocker-Bogie suspension, the quasi-static model of the rover is derived. The objective function for optimal solution of the driving forces of the wheels is introduced taken into account the characteristic of the quasi-static model and the demand of coordinate actuation of the wheels. The stability and the locomotion performance of the rover are analyzed by analyzing the simulation results. The study of this paper can provide theoretical basis for torque control of the wheels.

关键词： lunar rover quasi-static model performance analysis stability on a slope

作者: Chang Yong Wang Hongguang Ma Shugen Sui Chunping

作者单位: State Key Laboratory of Robotics, Shenyang Institute of Automation, the Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang Institute of Automation, the Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang Institute of Automation, the Chinese Academy of Sciences,

会议类型: 国际会议

会议名称: 2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

会议地点: 广西桂林

会议语种:英文

页码: 636-641

在线出版日期: 2009-06-17（万方平台首次上网日期，不代表论文的发表时间）