Research On Modeling & Controlling For Mobile Manipulator

With the development of science and technology, robots are more and more close to people's life and also attract more and more attention, and latest technology has been introduced into the robotic theory. Initially, people have put emphasis on the arm research, however, fixed base has seriously hindered the work space of arm. Therefore the mobile platforms' research has effectively solved this problem. The methods which are taken for the robot body and manipulator modeling and controlling respectively are usually used nowadays. As a result, combining the robotic arm and mobile platform as a whole has become a mind of thought on research.Supported by the Tianjin Binhai New Area Science and Technology Project (SB20080074) and Tianjin High Education Technology Developing Foundation (2006BA11), some related researches on mobile manipulators have been carried out. The main contributions of this dissertation are summarized as follows:First of all, on the basic of a comprehensive grasp of the structural characteristics, mobile platform and manipulator's kinematics model are established respectively. In the end, an integrated kinematics model is developed.Secondly, based on the research of mobile manipulator's kinematics, we establish the dynamics model for the mobile platform and the manipulator respectively. Then, employing the Lagrange method, we derive an integrated dynamics model for the mobile manipulator. Thirdly, built on those efforts, we put an appropriate motion control algorithm on trajectory tracking and the results are successful.In the end, the paper proposed a new idea on coordinated control of the mobile manipulator. Hybrid control algorithm and sliding mode variable structure control algorithm are used for trajectory tracking and it has achieved a good result.