首页|期刊导航|哈尔滨工业大学学报（英文版）|Numerical method for estimation of kinematical parameters for articulated rovers on loose rough terrain
哈尔滨工业大学学报（英文版）2009，Vol.16Issue(4)：505-512,8.
Numerical method for estimation of kinematical parameters for articulated rovers on loose rough terrain
Numerical method for estimation of kinematical parameters for articulated rovers on loose rough terrain
摘要
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 an-gle of pitch, roll and yaw. An improved contact model is adopted aimed at the loose and rough lunar terrain. U-sing 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 con-strueted. 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 pa-rameters of articulated rovers based on improved contact model can improve the precision of kinematical estima-tion on loose and rough terrain and decrease errors caused by contact models established based on general hy-pothesis.关键词
loose soil / kinematical parameters estimation/ suspension kinematics/ articulated lunar rover/ nu-merical solvingKey words
loose soil / kinematical parameters estimation/ suspension kinematics/ articulated lunar rover/ nu-merical solving分类
信息技术与安全科学引用本文复制引用
YU Xin-yi,GAO Hai-bo,DENG Zong-quan..Numerical method for estimation of kinematical parameters for articulated rovers on loose rough terrain[J].哈尔滨工业大学学报（英文版）,2009,16(4):505-512,8.基金项目
Sponsored by the National High Technology Research and Development Program of China(863 Program)(Grant No. 2006AA04Z231), the National Science Foundation of Heilongjiang Province(Grant No. ZJG0709) and "The 111 Project" (Grant No. 1107018). （863 Program）
