Research On The Dynamic Modeling And Simulation Of Mobile Manipulator

Mobile manipulator consists of mobile platform and manipulator, and manipulator locates on the mobile platform. The mobile manipulator's advantages are almost unlimited workspace and having functions of mobility and manipulation, but high redundancy, non-holonomy and strong uncertainty make mobile manipulator's motion planning and control more complex and difficult. In this paper, using a mobile manipulator as object, the mobile manipulator's kinematics and dynamics are deep studied. This will offer a well groundwork for the research on the mobile manipulator's motion planning and control.The main contents are as follows:First of all, mobile manipulator is disassembled as manipulator and mobile platform. Manipulator's direct and inverse kinematics model is established. And mobile platform's kinematics model is also established.Secondly, using the Newton-Euler method, manipulator's direct and inverse dynamics model are established and simulated in MATLAB. Then mobile platform's dynamics model is established. Finally mobile manipulator's uniform dynamics model is given based on the above context.In the end, based on mobile manipulator's uniform dynamics model, dynamic path following controllers are designed respectively for mobile platform and manipulator. They guarantee path following in the case of strong uncertainly and are simulated in SIMULINK of MATLAB. In the context, dynamic path following controller for mobile platform uses the method of backstepping kinematics into dynamics. Dynamic path following controller for manipulator uses the method of conventional computed-torque controller.