A Bond Graph Based Mobile Manipulator System and Its Modeling Method

Abstract

The invention discloses a modeling method of a bond-graph-based movable mechanical arm system. The method comprises the steps of 1, constructing a driving motor and transmission mechanism bond graph model; 2,constructing a double-wheel differential type mobile robot mechanical system bond graph model; 3, constructing a series connection type mechanical arm mechanical system bond graph model; 4, according to the robot freedom degree, connecting the bond graph models established in step 1, step 2 and step 3, and establishing a complete robot system bond graph model by considering the force-bearing relationship between the system and the ground; 5, deriving a mathematic model according to the bond graph model; and 6, conducting system simulation and analysis according to the model. By means of the modeling method, errors caused by the operation that modeling and control are conducted on a mobile robot and a mechanical arm separately, but the coupling relationship between the mobile robotand the mechanical arm is neglected are avoided; the bond graph method is adopted, modeling and simulation problems of a robot system combining multiple energy forms are solved in a unified manner; and rapidness and precision of dynamics modeling, simulation and analysis of the robot system are improved.

Description

technical field [0001] The invention relates to the technical field of control of a mobile manipulator, in particular to a bond graph-based mobile manipulator system and a modeling method thereof. Background technique [0002] The problem of dynamic analysis of multi-body mechanical system has been solved, and people have successively proposed different forms of computer-aided modeling methods based on the principles of analytical mechanics, and have produced powerful system dynamic analysis represented by ADAMS and DADS. software. However, these methods and software are limited to the local dynamics of systems with a single form of energy (for example, mechanical systems). system), it is impossible to automatically establish the system's forward and inverse dynamic equations and kinematic pair constraint reaction force equations on the computer in a unified way, and conduct effective global dynamic performance analysis, which makes the analysis results quite different from...

AI Technical Summary

Problems solved by technology

The first problem in researching robots is to establish a model, and when modeling robots in practice, the complex and uncertain parts are often approximated, so it is difficult to obtain an accurate mathematical model

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