Research on coordinated wheel motion control for a lunar rover with six cylinder-cone-shaped wheels
Jianguo Tao · Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University · 2008
Reliable motion control is the precondition for successful accomplishment of a lunar rover's exploration tasks.In order to implement the basic motions of a rover,such as forward/backward motion,turning,etc.,a study of coordinated motion control of a lunar rover equipped with six cylinder-cone-shaped wheels was conducted.According to the mechanical principles and structural features of the lunar rover,the kinematic constraints of the wheels were given.The control model for six-wheel coordinated motion was developed based on the fundamental motion requirements of the rover.The experimental study was carried out for motion control of the lunar rover with an on-board computer motion control system,using real time Linux running on a PC104 bus computer.The research results prove the validity of the proposed control model for six-wheel coordinated motion and lay down a theoretical foundation for designing a motion control system with autonomous barrier avoiding ability.