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Unified dynamic modeling method of generalized system of crawler-type mobile manipulator

A mobile manipulator, dynamic modeling technology, applied in the direction of manipulator, general control system, control/regulation system, etc., can solve the problem of ignoring the influence of the control system, the assumption of complete speed tracking is not established, and the lack of effective measures for the non-holonomic constraints of the mobile platform, etc. question

Inactive Publication Date: 2009-09-09
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

At present, the control of mobile manipulators is mostly focused on kinematics, and the control input is the speed of the system. This kind of control method has the following problems: (1) The assumption of complete speed tracking is not true in practice; (2) The impact of the mobile manipulator is ignored. Effect of Disturbance on Control System
Its advantage is that it can partially overcome the influence of dynamic coupling and external disturbance, but its disadvantage is that it must meet the continuous excitation conditions; (2) Yamamoto Y uses nonlinear feedback to perform centralized compensation for coupling, but experiments have proved that this compensation is for The tracking error caused by the movement of the platform works well, but it is difficult to compensate the tracking error caused by the movement of the manipulator
[0009] At present, there are very few studies on the control of crawler mobile manipulators using unified kinematics and dynamics modeling. The existing methods also lack effective measures for the non-holonomic constraints of the mobile platform. In order to solve the above problems, the present invention provides a A Generalized System Unified Dynamics Modeling Method for a Tracked Mobile Manipulator

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Embodiment 1

[0075] The specific parameters are as follows:

[0076] Body geometry parameters: r=0.105; k l = 1; k r = 1; l f =0.09; b=0.205; l 0 =0.6;

[0077] Geometric parameters of manipulator: l 1 =0.1; l 2 =0.6; l 3 =0.35; l 4 = 0.1;

[0078] Center of mass position of manipulator: pc 1 = 0.07 / 0.1; pc 2 = 0.27 / 0.6; pc 3 = 0.112 / 0.35; pc 4 =0.031 / 0.1;

[0079] The height of the center of mass of each joint of the mobile manipulator: zc 0 =0.25; ll 0 =0.25; ll 1 =0.6; zc 1 =ll 1 +pc 1 *l 1 ;

[0080] Mass of each joint of the mobile manipulator: m 0 =25;m 1 =6.84; m 2 =3.24; m 3 =1.54; m 4 = 1.74;

[0081] Gravitational acceleration: g=9.8

[0082] Moment of inertia of each joint of mobile manipulator: j 0 =0.5512; j 1 =0.077; j 2 =0.18; j 3 =0.035; j 4 =0.005

[0083] After establishing the generalized system unified dynamics model with the method described in the manual, directly add the unified PID coordination controller, τ =...

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Abstract

The invention discloses a unified dynamic modeling method of a generalized system of a crawler-type mobile manipulator. The core thereof comprises the following steps of: utilizing absolute coordinates to calculate kinetic energy and potential energy of the crawler-type mobile manipulator; using lagrangian dynamic method of a robot to carry out unified dynamic modeling to the crawler-type mobile manipulator; and rewriting the modeling into the unified dynamic modeling under the generalized system as the mobile manipulator is a complex system and a mobile platform has incomplete constraint. The invention avoids the error caused by that the coupling and mutual influence of the mobile platform and the manipulator which are respectively modeled and controlled when the mobile manipulator is researched originally, simultaneously has strong theoretical property, clear thinking and easy realization of programming and achieves the purpose of controlling the type of mobile manipulator precisely.

Description

【Technical field】: [0001] The invention relates to the technical field of control of mobile manipulators. [0002] The method mainly relates to a unified dynamics modeling method of a mobile manipulator, especially the dynamics modeling and control of a class of non-holonomic mobile robots with generalized system theory, which can be used for controller design of a solid mobile manipulator. 【Background technique】: [0003] The crawler mobile manipulator system is composed of a manipulator fixed on a crawler mobile platform. At present, the manipulator has been widely used in the grasping operation of the products of the assembly line. The mobile manipulator has two functions of moving and operating at the same time. The movement of the platform expands the working space of the manipulator, so that the manipulator has almost infinite operating space and can perform tasks with a more suitable posture. [0004] 1. Establishing a dynamic model is the need for real-time contro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/00B25J5/00
Inventor 蒋文萍葛为民
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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