管道形轮腿式月球探测机器人的运动学建模

针对月球的微重力特性、地形的不连续性、部分驱动轮打滑、部分车轮短时间离开地面甚至机器人发生侧翻的复杂情况，用移动机器人在不同时刻不同斜面上的运动学模型组成机器人在崎岖不平地面上行驶的复合运动学模型的方法(TPCM)，为管道形轮腿式月球探测机器人(PWLER)建立了正向和逆向运动学模型．运用正向运动学模型，根据PWLER各驱动轮的转速可估算出机器人相对于绝对坐标系的位置和姿态．运用逆向运动学模型，根据PWLER期望的前进速度和转弯半径可确定出各驱动轮的速度．从而为PWLER在三维地形上的自主导航和路径跟踪提供了理论依据。

Kinematic modeling of a pipeline-shaped wheel-legged lunar exploration robot

Taking into account lunar microgravity, discontinuity of terrain, rolling slip or departing from ground temporarily of a part of driving wheels, and even side tipover, we present the forward and inverse kinematics models for a new type of pipeline shaped wheel legged lunar exploration robot (PWLER) in TPCM method which is to form a composite kinematics model of a robot operating in rough terrain combining different kinematics models of the robot on different slopes at different times. The robotic forward kinematics model can estimate the position and orientation of the PWLER robot relative to the world coordinates using each driving wheel's rotational velocity of the robot. The robotic inverse kinematics model uses desired robotic linear velocity and turning radius as input and produces each driving wheel's rotational velocity. Thus, the PWLER robot has a base to complete its autonomous navigation and path tracking in a 3 dimensional complex terrain.