Compliance Control and Design for Intelligent Lunar Robot

In this paper, we focus on the need for the conceptual design of the intelligent lunar robot, and one kind of mechanical structure and compliance control methods are researched. Two-level shock absorber mechanism is adopted to effectively solve the question of the joint between four wheels of the robot and the ground at any road conditions. The control system consists of the on-board PC, the lower computer and the position feedback module. Each of them separately use the independent micro computer to process the system tasks in the distributed and parallel way. The experiments are carried on to test the performance of the intelligent lunar robot and the result shows that the whole system has the high precision and the rapid response. Simultaneously, this control system has strong computation ability and secondary development potential.