Numerical method for estimation of kinematical parameters for articulated rovers on loose rough terrain
Yu XinYi, GAO Hai-bo, DENG Zong-quan
School of Mechatronic Engineering,Harbin Institute of Technology,Harbin 150001,China
Abstract:
Based on the study of passive articulated rover,a complete suspension kinematics model from wheel to inertial reference frame is presented,which uses D-H method of manipulator and presentation with Euler angle of pitch,roll and yaw.An improved contact model is adopted aimed at the loose and rough lunar terrain.Using this kinematics model and numerical continuous and discrete Newton’s method with iterative factor,the numerical method for estimation of kinematical parameters of articulated rovers on loose and rough terrain is constructed.To demonstrate this numerical method,an example of two torsion bar rocker-bogie lunar rover with eight wheels is presented.Simulation results show that the numerical method for estimation of kinematical parameters of articulated rovers based on improved contact model can improve the precision of kinematical estimation on loose and rough terrain and decrease errors caused by contact models established based on general hypothesis.
Key words: loose soil kinematical parameters estimation suspension kinematics articulated lunar rover numerical solving
DOI：10.11916/j.issn.1005-9113.2009.04.013
Clc Number:TP242
Fund:
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Numerical method for estimation of kinematical parameters for articulated rovers on loose rough terr
本站小编 哈尔滨工业大学/2019-10-23
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