The paper presents a three-dimensional steering method for an articulated mobile robot that contains links, rotational joints, prismatic joints, and active wheels. The robot can change the angles of its links using the rotational joints and vary the lengths of its links using the prismatic joints. The target motion of this robot is represented by a continuous curve and the motions of the joints and the wheels are calculated by fitting the entire robot to this target curve. The forward velocity of the robot's head is adjusted to satisfy the hardware limitations of the robot; e.g. joint angle, joint velocity, and wheel velocity limitations. In addition, a terrain-following method is presented that considers the changes in the lengths of the links. An experimental articulated mobile robot was developed and experiments were carried out to demonstrate the effectiveness of the proposed method.

本文提出了一种多关节运动机器人的三维转向方法，该方法包含链节，旋转关节，棱柱关节和主动轮。机器人可以使用旋转关节更改其链接的角度，并使用棱柱形关节来更改其链接的长度。该机器人的目标运动由一条连续曲线表示，关节和车轮的运动是通过将整个机器人拟合到该目标曲线来计算的。调整机器人头部的前进速度以满足机器人的硬件限制；例如关节角度，关节速度和车轮速度限制。此外，提出了一种地形跟踪方法，该方法考虑了链节长度的变化。