Kinematics Analysis Of Mobile Manipulator Based On Neural Network

Mobile manipulator system is composed of a mobile platform and one or several manipulators. The manipulator can be used to realize some action, such as grasp,manipulation and so on. This configuration make the manipulator possess of almost infinity workspace and the high kinetic redundancy and have the function of movement and manipulation, from this point of view,it's better than the mobile robot and traditional manipulator. This paper makes systemic research on kinematics decoupling of mobile manipulator and simulation of five DOF manipulator, supported by Hi-tech Research and Development Program of China (No. 2003AA421040). The object of research is Pioneer 3-AT mobile robot made by ActivMedia Robotics Company of USA and the five DOF manipulator developed by our lab. What followed are the main contents:Firstly, based on the analysis on the function of manipulator, the project design of the mechanical construction of five DOF manipulator is achieved and the control system is built. The parameter setting and program of PMAC (Programmable Multi-Axis Controller) are particular introduced.Secondly, based on the further research of the kinematics of five DOF manipulator, kinematics model is made with the method of D-H, joint velocity and Jacobian matrix are also carried out. Based on the analysis of holonomic constraint and nonholonomic constraint, the kinematics constraint model of nonholonomic constraint platform is built, then, the discrete model is built using the method of differential. Moreover, the kinematics model of the mobile manipulator system is made. RBF (radial basis function) neural network using the nearest neighbor-clustering algorithm is established for kinematics decoupling which brought by coordinated motion between the manipulator and mobile platform of mobile manipulator system. The simulation shows the method reasonable and effective.Finally, the program is carried out for kinematics analysis,calculation and flash simulation by use of MATLAB language which is good at numeric computation ,handle large data and plot data picture.this program can be used to analysis and simulate the five DOF manipulator of different configuration, meanwhile, it can be used to realize the real-time 3-D cartoon for the kinematics model and provide dependable grounds for configuration setting and trajectory planning.