Kinematics modeling and analyses of articulated rovers

This paper describes a general approach to the kinematics modeling and analyses of articulated rovers traversing uneven terrain. The model is derived for full 6-degree-of-freedom motion, enabling movements in the x,y, and 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. Three types of kinematics, i.e., navigation, actuation, and slip kinematics are identified, and the equations and application of each are discussed. The derivations are specialized to Rocky 7, a highly articulated prototype 'Mars rover, to illustrate the developed methods. Simulation results are provided for the motion of the Rocky 7 over several terrains, and various motion profiles are provided to explain the behavior of the rover.