| Mobile manipulator system is composed of a mobile platform and one or several manipulators which has a brand new future in working in the danger and extreme circumstance for its wildly workplace and redundant degree of freedom. Supported by Hi-tech Research and Development Program of China (No. 2003AA421040), this paper made a research on the Pioneer 3-AT mobile robot made by ActivMedia Robotics Company of USA and the five DOF manipulator developed by our lab, build up the kinematics model and planed the continuous path operations of the five DOF manipulator. What followed are the main contents:Firstly, build the kinematics model of the five DOF manipulator with D-H notation, solved the direct kinematics problem and inverse kinematics problem analyzed the speed of joint and Jacobin matrix. The kinematics constraint model of nonholonomic constraint platform is given based on the analysis of holonomic constraint and nonholonomic constraint and the discrete model is built using the method of differential.Secondly, discussed the geometry of curve and parametric representation, planed the continuous operation path of the five DOF manipulator and achieved the uniformity movement of the end-effector in Cartesian space. Worked out the inverse kinematics problem, gave the angels, speed and acceleration of each joint with MAPLE.Finally, the program is carried out for kinematics analysis, calculation and flash simulation by use of MATLAB language which is good at numeric computation, handle large data and plot data picture. This program can be used to analysis and simulate the five DOF manipulator of different configuration,meanwhile, it can be used to realize the real-time 3-D cartoon for the kinematics model and provide dependable grounds for configuration setting and trajectory planning. |
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