DocumentCode
2666343
Title
Kinematics modeling of eight-wheel lunar rover
Author
Lei, Chen ; Jie, Ma ; Haibo, Gao
Author_Institution
Harbin Inst. of Technol., Harbin
fYear
2008
fDate
16-18 July 2008
Firstpage
346
Lastpage
350
Abstract
This paper presents the kinematics modeling method of eight-wheel torsion bar rocker-bogie lunar rover. Forward kinematics modeling consists of the Jacobian matrices of the wheels, it could deduce the position and attitude of the rover. Inverse kinematics modeling could work out the speed of the wheels by using the speed of the rover, so as to get the anticipated position and attitude of the rover. This modeling is the foundation of the rover motion control and autonomous navigation.
Keywords
attitude control; mobile robots; motion control; path planning; planetary rovers; position control; robot kinematics; torsion; velocity control; Jacobian matrices; autonomous navigation; eight-wheel torsion bar rocker-bogie lunar rover; forward kinematics modeling; inverse kinematics modeling; rover motion control; Bismuth; Inverse problems; Jacobian matrices; Kinematics; Moon; Motion control; Navigation; Wheels; Eight-wheel lunar rover; Kinematics modeling; Ocker-bogie;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location
Kunming
Print_ISBN
978-7-900719-70-6
Electronic_ISBN
978-7-900719-70-6
Type
conf
DOI
10.1109/CHICC.2008.4605532
Filename
4605532
Link To Document