The Study On Coordination-Controlling For Mobile Manipulator

With the development of petrochemical industry of our country, the measurement and maintenance for the chemistry leakage from chemistry reactors and pipelines has become necessary technology to petrochemical industry. Because of the harmfulness of the chemicals, the mobile manipulator with independent ability becomes the best choice of mending work, replacing or helping mankind finish the highly dangerous work. At the same time, mobile manipulator has a brand new future in social public security and military affairs, for example dismantling explosives or tinder, anti-terrorism, etc. The thesis is carried on the research to the coordination-controlling for mobile manipulator, supported by a National Program 863 item-"The Mobile Manipulator system aimed at measurement and maintenance, working in the circumstance of chemistry dangerous leakage from the chemistry dangerous reactor"(item serial number: 2003 AA421040).First, describe P3-AT mobile manipulator basic structure characteristics and establish kinematics sub-models-5 degree of freedom manipulator and wheeled mobile vehicle. Utilize KP(Inverse Kinematics Problem) of manipulator and RMRC(Resolved Motion Rate Control) to realize coordination-control between manipulator and mobile vehicle. And the traces followed by manipulator's effector transform to the locomotion of the manipulator and mobile vehicle, at same time, realize the transformation from Cartesian coordination to joint coordination.Secondly, based on dynamics sub-models-manipulator and wheeled mobile vehicle, the whole dynamics model of mobile is established. So the relations between force, mass and acceleration, torque, inertia and angle acceleration is explained. At last, finish the calculation of the corresponding joint torque according to the movements of the manipulator and mobile manipulator in order to guarantee the better position precision and expected speed and acceleration.Thirdly, utilizing the excellent characteristics of artificial neural network in studying and fault-tolerant,design mobile manipulator controllers separately to solve the coupling between manipulator and mobile vehicle and compensate the torque in order to realize the coordination movements between manipulator and mobile vehicle.