ALTERNATIVE KINEMATICS MODELLING AND ANALYSIS OF ROVERS WITH COMPLEX MOBILITY SYSTEMS

Mahmoud Tarokh

Keywords

Robot kinematics, articulated rovers, kinematics analysis

Abstract

Kinematics modelling is essential for the analysis, synthesis and control of highly articulated and autonomous rovers. These rovers have complex mechanisms to enable them traverse over rough terrain. This article develops the fundamental kinematics equations of highly articulated rovers with complex mobility systems. The developed kinematics equations then lead to two formulations of the kinematics, each with their own properties and uses. The relationship between the two formulations is established and the application of each is explained. The analysis is applied to the NASA Sample Return Rover, where the two kinematics forms are derived in detail, and their uses for analysis and synthesis are described.

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