Description: 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
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