DRIVING METHOD FOR PLANETARY EXPLORATION ROVER HAVING MULTI JOINT AND LEG

摘要

PURPOSE: A driving method of a multi-joint rover for exploring a planet is provided to minimize consumption of the power and to secure driving safety by driving each motor through a motor control input value stored at an operational database. CONSTITUTION: A driving method of a multi-joint rover(100) for exploring a planet comprises the following steps: a step of setting target rotation angle of each position control motor; a step of maintaining level of an upper platform(110); a step of setting moving angle of the rover by recognizing steering angle of a current rover and controlling a steering motor according to predetermined moving angle; and a step of setting speed of a wheel by a position control unit and controlling a driving motor(158) according to the predetermined speed.