Design And Analysis Of Integrated Control System For Mobile Manipulator

Industrial manipulator is one of the most widely used robots. It is founded on the knowledge from electronic technology, mechanical technology, and automatic control technology. Among industrial manipulators, the mobile manipulator can move and operate simultaneously. Therefore, it is attracting more and more research and application attention in this field. Network control of mobile manipulator is a particular promising field in advanced manufacturing technology. It integrates the robotology with computer science, communication technology, and control technique. Internet technology further extends the application areas of the mobile manipulator. The purpose of this dissertation is to examine the integrated control system for mobile manipulator. The main contributions of this dissertation are summarized below:First, hardware platform of mobile manipulator is set up and trial runs and tests are conducted.Second, on the basic of a comprehensive grasp of the structural characteristics, we establish the kinematics model for mobile platform and manipulator respectively. An integrated kinematics model is further developed. Built on those efforts, a uniform PD controller is proposed for system kinematics control and positive results are achieved.Third, employing the Lagrange method, we derive an integrated kinetic model for mobile manipulator. A uniform PD controller and a sliding mode variable structure controller are proposed for the system kinetics control. Promising results are generated from simulations.Forth, according to the Browser/Server structure, we design a mobile manipulator network system based on the three-tier architecture which includes a three-tier architecture (i.e., the client layer based on .net, the server layer and back-end system layer). An internet control system platform of the mobile manipulator is built for experiments. Thus, mobile manipulator can be operated by different remote users. This system is both independent and user-friendly.Fifth, aiming at its nonholonomic constraint and nonlinearity, singular system theory and T-S fuzzy control theory is introduced. The integrated kinetic model is transformed into a T-S fuzzy singular system model. Then, a state feedback controller based on LMI is designed and the stability of the system is proved. The results from the simulations provid supports for the efficiency of this method.Sixth, The issue of time-delay existing in the mobile manipulator network control system is discussed. The existence conditions of both time-dependent and time-independent in singular system are discussed respectively.Finally, several experiments are conducted to examine the correctness of the models we established and the reliability of the proposed system. The xperiments are: remote automatic navigation and obstacle avoidance experiment, network-based convey experiment, Matlab-based kinematic control experiment, and the above-mentioned-simulation-based experiments. Experiment results are reported.