Kinematic Control Of Mobile Pingpong Manipulator

Robot technology with the high intelligence and wide application field, becomes an important symbol of high-tech level and the degree of automation of a country. More and more researchers focus on the wheeled differential-drive mobile robot with its nonholonomic and nonlinear characteristics and broad application prospect.In the field of robots, the Pingpong manipulator is a typical high intelligence, real-time system, and it covers the intelligent control, high-speed visual servoing control, human-computer interaction and machine learning of robot research field and so on. So the research of the Pingpong manipulator, can effectively promote the development of robot techno logy, and has a high value of scientific research. The hitting range of our Pingpong manipulator is small because of the fixed base.Therefore, we combine the wheeled differential-drive mobile robot with the Pingpong manipulator and then design the wheeled mobile Pingpong manipulator.This research mainly includes the following aspects:We firstly introduce the research background and significance of the mobile Pingpong manipulator, and then briefly introduce the platform of the software and hardware.At the same time, we detail the process to build the D-H model clearly based on the hardware platform. And then we analyze the classification principle of the car wheels.According to this principle,we divide the wheels into five types.At last,we build the the kinematic model of the car body.Based on this model,we focus on the control method of the redundant mobile manipulator, including the gradient-projection method and the weighted least-norm method, the general-weighted least-norm method and the varied weights method. In addition, we also give the performance criterion of several subtasks and path planning methods. Then, we are given the overall kinematic model of the two kind of mobile manipulators, and this help control the mobile Pingpong manipulator in a unified way. Now,we can use various control methods to simulate the redundant mobile manipulator in order to verify the feasibility of the algorithm and the rationality of the model The last part of this research gives the summary of full text, analyzes the insufficient of the system and proposes the future improvements...