Sprocket system of manipulator trajectory planning and tracking control
Sprocket object by multiple mobile robot arm for this paper, the multiple mobile manipulator trajectory sprocket made a preliminary exploration of planning and control. Mobile sprocket general mechanical arm manipulator system composed of multiple mobile operating system, it involves the mechanical optimization, control, mechanics, mathematics and other subjects of study is a sprocket interdisciplinary field of study. So for the multiple mobile robot system sprocket investigate the value and significance of theory research.
In addition, the mobile manipulator system can be used in the industrial field, field exploration for the sprocket, family services, has a broad prospect. Research into the mobile manipulator system is a challenging task. Mobile manipulator sprocket operation coordination meeting to increase system complexity. Sprocket finish with the sprocket whole wheeled mobile platform system; Mobile manipulator with a wide range of the nonlinear characteristics of the sprocket movement, make the system more obvious; The operation of multiple mobile robots coordination closed kinematic chain, add motion and force constraints; In addition, the target grip strength need sprocket appropriate control. From the perspective of research, explore the sprocket multiple mobile manipulator trajectory planning and control methods in general.
In the sprocket trajectory planning, based on dynamics of multiple mobile robots system model and joint torque, position and speed limit, by the b - spline curve interpolation of multiple mobile robot system, wheel speed and acceleration of the rail joint position, in the closed chain space planning. Sprocket snatch heavy weights, this kind of planning method in system as possible to catch heavy objects as much as possible in a short time for low energy consumption, on the basis of can realize comprehensive energy consumption and cost optimization. In the field of motion control, combined with the adaptive control based on model reference chain sprocket chain system of multiple mobile robots system dynamic chain wheel mechanical model.
This kind of control method in the dynamic model parameters and the system in the presence of interference conditions can still be completed stability control, complete all of the mobile manipulator trajectory tracking and control object constraint system within the framework of the security of the internal force. Sprocket, sprocket v move more are presented in the design of robot system simulation platform, there are two two columns more than five degrees of freedom mobile robot arm mobile manipulator system as the object of simulation, verify the validity of this method of trajectory planning and control.
