Exploring kinematic modeling and parameter identification for lunar robot based on slipping motion

The introduction of the full paper reviews some papers in the open literature, including Refs. 5 and 6 written by the present authors, and then proposes the research mentioned in the title. Sections 1 and 2 explain our exploration. Section 1 assumes the abnormal rotation angles of the manipulator for lunar robot, which contain changes of mathematical models caused by probable mechanical transfiguration of manipulator. Subsection 1.1 improves the modeling in two respects (1) manipulation dynamics for lunar robot; (2) the coordinates of links for manipulator founded on this assumption. Subsection 1.2 proposes a new method that identifies the 13 parameters of lunar robot and the coefficient of sliding by utilizing the slipping motion. Section 2, through the relationships existing among the abnormal circumrotation angles and D-H parameters, identifies the kinematic parameters. Simulation resultes, presented in Figs.6 and 7 and Tables 2 and 3, and their analysis, verify prelimininarily that the improved modelings of manipulation dynamics for lunar robot and the coordinates of links for manipulator are correct and that the identified velocities of manipulator's end-effector can follow up the real ones rapidly.