Research On Underactuated Manipulator And Motion Control Based On Nonholonomic Constrains

As the development and application of robotic technology is advancing, the requirements for fine working and flexible controlling become more demanding under different environments. This makes the mechanic part of robot more complicated and the motion control more difficult of robot. In nowadays, the robot technology is beening developed very quickly, people have clearly realized that, if we want the robot to bring its capability and function into play completely, its mechanical part and control systems must be combined closely. Therefore, it is significant to do research on the combination of robotic mechanics and robotic cybernetics.In this dissertation, supported by the Robotics Laboratory, Chinese Academy of Sciences, research work and investigation results are presented on the combination of nonholonomic system and nonlinear control in order to establish the nonholonomic underactuated manipulator and its motion control. On the basis of the present research accomplishment on nonholonomic systems and the analysis of the present state of nonholonomic robot research, that has done advanced research on the nonholonomic manipulator and its key technologies.There are many features in the nonholonomic system. On the basis of analyzing the nonholonomic system and the transformation of the nonholonomic chained system, it has been proved that, the mechanic system, which can be transformed to the chained form, is a controllable nonholonomic system. Also, it is obvious that the disc's rolling on the ground is nonholonomical. Therefore, a new kind of controllable transitive mechanism, the rub disc movement composition mechanism, has been established. This mechanism can control the transitive ratio continuously and efficiently by changing the relative position of the round disc and the roulette. The change of transitive relation complies with the triangle function.Based on the combination of controllable motion transitive mechanism and the nonholonomic motion planning, two new kinds of controllable nonholonomic under actuated manipulator was proposed: a open chained nonholonomic manipulator and aparalleling chained nonholonomic manipulator. We design them, analyse their nonholonomic character and movement feature, prove that the movement is controllable when the input's dimensions are less than its configuration dimensions, and presented the way and condition for how to transform them into the chained form system.On the basis of the time polynomial inputs control and the trigonometric function input control of the chained form system, an algorithm of motion planning was proposed for the nonholonomic underactuated manipulator. That have studied the time polynomial inputs control, the trigonometric function input control, and the motion feature of the nonholonomic underactuated manipulator, and revealed the their characters and the differences between them.The experiment device of the nonholonomic manipulator was designed and built. The UMAC motion control system is used to do the experiment research. The feasibility and validity of the motion transference of the nonholonomic motion transitive mechanism was proved. The feasibility of motion of the open chained nonholonomic manipulator and the validity of its controlling also was proved. The configuration of the open chained nonholonomic manipulator can be controlled.The study of this dissertation can provide some useful experiences to the development of the air-robots, medical robots, robots for special environments, and it is helpful to advance and application of robotic technology.