为了在轨迹规划阶段提高月球车在三维地形中的轨迹规划精度，以被动关节式地形自适应月球车为研

究对象，融合关节机器人D-H 坐标建模方法构建月球车悬架运动学模型，结合数值求解方法，推导了任意崎岖

三维地形中月球车姿态估计模型。在模型估计基础上利用参数化控制原理，建立了满足约束条件下被动关节式

月球车在任意地形中的基于模型估计的一般性参数化轨迹生成模型。针对轮式月球车的非完整性特点，结合数

值求解方法，推导了非线性模型的求解方法。最后利用仿真方法，以八轮摇杆摇臂关节式月球车为例，验证了崎

岖地形中基于模型估计的轨迹生成方法的正确性，且可提高关节式月球车在崎岖地形中的规划精度-In order to improve precision of trajectory generation for rover on three dimensional rough terrain during trajectory

generation phase，based on the study of passive articulated rover and D-H kinematics model method of manipulator，this paper

presented the kinematics of the suspension frame． Using this complete suspension kinematics model and the numerical solving

method，it constructed the kinematical observer’s estimation of passive articulated rover on arbitrary rough terrain． On the basis

of this estimation of model，using principle of parameterized control，constructed an adaptive trajectory generation model for passive

articulated rover on arbitrary rough terrain which satisfied arbitrary constraints． According to nonholonomic characterization

of the model，presented the numerical solving method of this nonlinear model． To demonstrate this trajectory generation method，

presented an example about two torsion-bar rocker-bogie rover with eight wheels． Simulation results show that t