Locomotion performance analysis of the lunar rover on a slope

  • Authors:

  • Chang Yong;Wang Hongguang;Ma Shugen;Sui Chunping

  • Affiliations:

  • State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang and Graduate School of the Chinese Academy of Sciences, Beijing;State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang;State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang and Department of Robotics, Ritsumeikan University, Shiga-Ken, Japan;State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang

  • Venue:
  • CCDC'09 Proceedings of the 21st annual international conference on Chinese Control and Decision Conference
  • Year:
  • 2009

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Abstract

In this paper, the stability and locomotion of the lunar rover on a slope is studied. Based on the analysis of a single wheel's 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.