A General Approach to Kinematics Modeling of
نویسندگان
چکیده
This paper describes a general approach to the kinematics modeling of all-terrain rovers traversing uneven terrain. The model is derived for full six degree of freedom motion enabling movements in x, y, z directions, as well as pitch, roll, and yaw rotations. Differential kinematics is derived for the individual wheel motions in contact with the terrain. The resulting equations of the individual wheel motions are then combined to form the composite equation for the rover motion. Two useful types of kinematics, i.e. actuation and slip kinematics are identified, and the equations and application of each are discussed. For illustration, the method is specialized to Rocky 7, a highly articulated prototype Mars rover. Simulation results are provided for the motion of the Rocky 7 over bumpy and wavy terrain, and motion profiles are provided to explain the behavior of the rover
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