六圆锥轮式月球车运动控制系统的设计研究  

Design of a Locomotion Control System for Lunar Rover with Six Conical Wheels

作　　者：方海涛[1] 邓宗全[1] 陶建国[1] 董玉红[1] 禹鑫燚[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机器人》2007年第5期492-497,共6页Robot

基　　金：国防基础科研基金资助项目(A142006);长江学者和创新团队发展计划资助项目

摘　　要：六圆锥轮式月球车是一种混合适应型移动机器人车,具有地形适应能力优越、越障能力强的特点.针对该款月球车,本文建立了运动学模型,提出并设计了一套基于TCP/IP通讯、具有一定自主能力的遥操作运动控制系统.遥操作计算机提供月球车路径规划服务,并监控月球车运行.基于实时L inux和PC104总线计算机的车载计算机运动控制系统解析遥操作运动指令,并驱动控制月球车运动.模拟现场验证了所提运动控制系统的可行性和稳定性.A lunar rover prototype with six conical wheels, with the combination of active and passive terrain adaptability, has the good capability of moving on uneven rough terrain and climbing obstacles. For the rover, a kinematics model is set up, and a TCP/IP-communication-based tele-operated locomotion control system with certain autonomy is put forward and designed. The tele-operated station computer supports the rover path planning and monitors the rover motion. The on-board locomotion control system, based on PC104 bus embedded computer and real-time Linux, resolves the tele-operated motion command, controls and drives the rover motion. The simulated field experiment shows the feasibility and stability of the rover locomotion control system.

关 键 词：六轮月球车 运动控制系统 PCI04总线 实时LINUX 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]