This paper aims on the trajectory tracking of the developed six wheel-legged robot with heavy load conditions under uncertain physical interaction. The accuracy of trajectory tracking and stable operation with heavy load are the main challenges of parallel mechanism for wheel-legged robots, especially in complex road conditions. To guarantee the tracking performance in an uncertain environment, the disturbances, including the internal friction, external environment interaction, should be considered in the practical robot system.,In this paper, a fuzzy approximation-based model predictive tracking scheme (FMPC) for reliable tracking control is developed to the six wheel-legged robot, in which the fuzzy logic approximation is applied to estimate the uncertain physical interaction and external dynamics of the robot system. Meanwhile, the advanced parallel mechanism of the electric six wheel-legged robot (BIT-NAZA) is presented.,Co-simulation and comparative experimental results using the BIT-NAZA robot derived from the developed hybrid control scheme indicate that the methodology can achieve satisfactory tracking performance in terms of accuracy and stability.,This research can provide theoretical and engineering guidance for lateral stability of intelligent robots under unknown disturbances and uncertain nonlinearities and facilitate the control performance of the mobile robots in a practical system.

中文翻译：

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不确定物理交互作用下重载六轮腿机器人轨迹跟踪控制并联结构

本文旨在研究开发的六轮腿机器人在不确定物理交互下的重载条件下的轨迹跟踪。轨迹跟踪的准确性和重载稳定运行是轮腿机器人并联机构面临的主要挑战，尤其是在复杂路况下。为了保证不确定环境下的跟踪性能，实际机器人系统中应考虑内摩擦、外部环境相互作用等干扰。本文提出了一种基于模糊逼近的模型预测跟踪方案（FMPC），以实现可靠的跟踪。对六轮腿机器人进行跟踪控制，其中应用模糊逻辑近似来估计机器人系统的不确定物理交互和外部动力学。同时，