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摘要:
This paper presents a method to solve inverse kinematics of lunar rover. It estimates a six-wheels-rocker-bogie lunar rover's attitude and configuration in real time which depend on available digital terrain map, rover position and rover yaw. We analyzed kinematics model of rocker-bogie rover. Then we applied fuzzy logic and virtual sensors to solve inverse kinematics of rocker-bogie rover. In addition, simulation experiment supports the effectiveness of this method in 3D virtual environment. It can solve the problem within 1/40 s and at the same time ensure distances between lunar rover' s wheels and ground are less than 0.02 m.
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来源 :
Journal of Astronautics
ISSN: 1000-1328
年份: 2006
期: 4
卷: 27
页码: 643-647
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