Kinematics modeling of eight-wheel lunar rover

This paper presents the kinematics modeling method of eight-wheel torsion bar rocker-bogie lunar rover. Forward kinematics modeling consists of the Jacobian matrices of the wheels, it could deduce the position and attitude of the rover. Inverse kinematics modeling could work out the speed of the wheels by using the speed of the rover, so as to get the anticipated position and attitude of the rover. This modeling is the foundation of the rover motion control and autonomous navigation.