Kinematic Analysis And Trajectory Tracking Control Of Redundancy Hydraulic Manipulator For Rescue Robot

Natural disasters such as earthquakes always result in great loss to the people's life and influence the economic development of the society.The development of high efficient rescue equipments and breaking the key technologies are essential to develop emergency rescue industry.Kinematic analysis and trajectory tracking control in joint space of manipulator are studied in this paper,which is based on the seven degree-of-freedom(DOF)hydraulic manipulator.This study can improve the autonomy level of rescue robot and the trajectory tracking precision of the redundant hydraulic manipulator.Firstly,a redundant hydraulic manipulator system is designed according to the practical requirements of rescue robot.The manipulator is designed refer to the structure of human arm,and the configuration of manipulator is RRRPRPRPRPRYRR.It is driven by hydraulic system.The real-time control system of redundant hydraulic manipulator is built based on xPC Target system.Secondly,forward kinematic analysis of the redundant hydraulic manipulator is carried out,and the work space is obtained by Monte Carlo method.The Jacobian matrix of the manipulator is solved by differential transform method.To solve the inverse kinematic problem caused by redundant characteristic of manipulator,an algorithm based on weighted minimum norm method and closed loop method is proposed.A new calculation formula of damping coefficient is presented to improve the solution stability of Jacobian matrix in the algorithm.Objective optimization function is used to avoid the joint limit position.Closed loop method is used to improve the calculation precision of inverse kinematic solution.Thirdly,to solve the trajectory tracking control problem of the hydraulic manipulator with complex parameters,strong nonlinearities and unknown disturbance,a simplified dynamic model of redundant hydraulic manipulator is established,and a new control method based on TDE and adaptive fuzzy logic control is proposed.Stability of the control system is analyzed using Lyapunov stability theory.To verify the effectiveness of the method,simulation is carried out on the platform built by MATLAB and ADAMS.Then,trajectory tracking control experiments in joint space are carried out using the three control methods based on TDE.Finally,trajectory tracking experiments under desired straight and curve line are carried out,which is based on the combination of the kinematic analysis algorithm and control method.It realizes the trajectory tracking control of manipulator actuator in task space.