Study On The Control Of A Intelligent Mobile Manipulators

In recent years, the theory and application research of nonholonomic mobile robot has gained more and more attention in the control community. Any mechanical system with wheeled mobile driving device such as lorry belongs to the category of nonholonomic robots, so it has a broad real application background. On the other size, this kind of system has such characteristics as many variables, non-linear, strong coupling, time-variational, uncertain parameters and so on, and is constrained by the nonholonomic kinematics condition, so the control of nonholonomic system becomes very difficult. Hence, the research of robust control of mobile robot and real-time control has great significance in areas of theory and application. Now many researchers have studied the mobile robot, but there is little research on the mobile manipulators.Based on the purpose of constructing laboratory and the layout of the laboratory's projects, the mobile manipulator is a perfect experimentation platform of the control theory and technique for research apparently. First, this paper introduces the architecture of the mobile robot system, gives and presents the design project of the hardware and software of the mobile manipulator. Secondly, a wheeled mobile robot the author and others participated in designing is showed in detail. The experimental device is one of constructing laboratory projects. In the period of beginning, the system can perform some basic tasks such as linear movement, circumferential movement and bar-avoidance and track random path and so on. The dynamics device is checked and accepted by graduate school. Then, the dynamics model is presented and the detailed testifying course is given. At last, the linearization and decoupling of the system is realized by non-linear feedback precise linearization, and the simulation of path tracking of the mobile manipulators is done. In the appendix, the dynamics model of the non-stabilization balancing body is given.