The Study For Wheeled Mobile Robot Manipulator About Tracking Technology

In recent years, the control study of nonholonomic mobile manipulator systems has aroused great attention in the control domain at home and abroad due to combine the advantages of mobile platforms and arm and have unlimited operation space and flexible operation ability. At the same time, it is difficult to use traditional linear theory study that the mobile manipulator is a typical dynamic nonlinear uncertainty systems with multi-input, multi-output, time-variety and strong coupling. Therefore, the tracking control of nonholonomic wheeled mobile manipulator has a great significance and a good application prospects. In this paper, the main work is as follows:1,Combined with non-holonomic wheeled mobile robot dynamic constraint characteristics, the kinematics and dynamics model combining the wheeled mobile part with the arm part was established. It provides a reasonable model basis for wheeled mobile manipulator coordination control.2,The dynamics model of Wheeled mobile manipulator system is extremely complex and non-linear. In this paper, the linearization and decoupling of wheeled mobile manipulator was realized by non-linear feedback precise linearization based on the mathematical model. The mobile manipulator controller was designed based on it. At last, the simulation results show that the controller designed satisfied the requirements of control system.3,The overall structure for mobile manipulator control system was designed based on existing mobile robot architecture. At the same time, the mobile manipulator control system was analysed. According to the control system requirements, the mobile manipulator system test platform was designed based on TMS320LF2407A DSP. The hardware circuit module for DSP applications system was designed.4,The DSP controller software part was designed on the base of hardware circuit. The mobile manipulator controd system software part was realized, including the main program, the system initialization, data acquisition, serial communication, timer interrupt and so on. The design and realization of software program provided necessary conditions for the tracking control of mobile manipulator.