孟彦鹏, 王永, 谢圆, 周建亮. 基于Creator/Vega的月球车轮地交互仿真[J]. 机器人, 2010, 32(3): 369-374.
引用本文: 孟彦鹏, 王永, 谢圆, 周建亮. 基于Creator/Vega的月球车轮地交互仿真[J]. 机器人, 2010, 32(3): 369-374.
MENG Yanpeng, WANG Yong, XIE Yuan, ZHOU Jianliang. Wheel-Terrain Interaction Simulation of Lunar Rover Based on Creator/Vega[J]. ROBOT, 2010, 32(3): 369-374.
Citation: MENG Yanpeng, WANG Yong, XIE Yuan, ZHOU Jianliang. Wheel-Terrain Interaction Simulation of Lunar Rover Based on Creator/Vega[J]. ROBOT, 2010, 32(3): 369-374.

基于Creator/Vega的月球车轮地交互仿真

Wheel-Terrain Interaction Simulation of Lunar Rover Based on Creator/Vega

  • 摘要: 通过Multigen Creator建立月球车3维模型,利用Vega作为可视化仿真平台,实现了月球车轮地交互以及逆运动学求解,并对碰撞检测、相交矢量设置、关节控制等关键技术进行了探讨.月球车上下坡实验结果及分析,证明了该方法在轮地交互可视化仿真中的有效性.

     

    Abstract: A lunar rover 3D model is created by using Multigen Creator.Using Vega as the visual simulation platform,wheel-terrain interaction and inverse kinematics solution of lunar rover is realized.The key technologies such as collision detection,intersection vector setting,and joint control are discussed.The experimental results and analysis of lunar rover uphill and downhill show the effectiveness of the method in the visual simulation of wheel-terrain interaction.

     

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