ABSTRACT 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. GRAPHICAL ABSTRACT

中文翻译：

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考虑硬件限制的棱柱关节移动机器人三维转向

摘要 本文提出了一种关节式移动机器人的三维转向方法，该机器人包含连杆、旋转关节、棱柱关节和主动轮。机器人可以使用旋转关节改变其连杆的角度，并使用棱柱形关节改变其连杆的长度。该机器人的目标运动由一条连续曲线表示，关节和车轮的运动通过将整个机器人拟合到该目标曲线来计算。调整机器人头部前进速度，满足机器人硬件限制；例如关节角度、关节速度和车轮速度限制。此外，还提出了一种地形跟随方法，该方法考虑了链路长度的变化。开发了一个实验性关节移动机器人，并进行了实验以证明所提出方法的有效性。图形概要