该文详细分析了履带式机器人的受力特点, 提出了一种适于进行控制器设计的履带机器人模型, 并在此基础上, 按照反馈线性化的思想, 提出了一种履带式机器人稳定路径跟踪控制器的设计方法, 同时给出了方法的非奇异条件。该文提出的控制系统模型和路径跟踪方法, 为履带式机器人控制系统设计提供了理论依据。-In this paper, a detailed analysis of track-type robot force the characteristics of a controller suitable for the design of crawler robot model, and on this basis, in accordance with the idea of feedback linearization, a crawler-type stability of robot path tracking controller design method, at the same time gives the methods of non-singular terms. This paper presents the control system model and path tracking method for track-type robot control system design provides a theoretical basis.