轮腿式火星探测机器人的多目标协同控制

doi:10.7527/S1000-6893.2020.24246

Abstract

Abstract: The Mars exploration mission requires the robot to be dynamically stable and adaptive to the unknown irregular terrain. This paper proposes a multi-target coordinated control strategy for a wheel-legged Mars exploration robot based on the inverse kinematics model, the vehicle body attitude and the wheel-to-ground contact force. Through kinematic modeling of vehicle attitude adjustment, the first-order low-pass filtering and leg impedance control algorithm, and the center of gravity height adjustment algorithm based on the leg motion hazard coefficient, we realize the tracking control of the vehicle body attitude, wheel-ground constant force contact control and the optimal control of the center of gravity height, thereby improving the self-adaptability, movement stability and the safety of the leg movement space when the wheel-legged robot passes unstructured topographies. The effectiveness of this control strategy proposed in this paper is verified by the joint simulation of MATLAB and UG.

Key words: wheel-legged robots, coordinated control, kinematics, ZMP method, joint simulation

CLC Number:

V448.2

SUN Yanlong, HE Jun, XING Yan. Multi-target coordinated control of wheel-legged Mars rover[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 524246-524246.

References

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Multi-target coordinated control of wheel-legged Mars rover

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