Research On Dynamics Characteristic Of Nonholonomic Multi-joint Manipulator

The nonholonomic constraints most commonly arise in finite dimensional mechanical systems where constraints are imposed on the motion that are not integral, such as wheeled vehicles with rolling contact and space robotics with angle moment conservation. At present, the research of this field is focus on nonholonomic mechanics and motion planning of nonholonomic system, which is passed. For the research of nonholonomic manipulator is just in the field of the kinematics and motion planning. However, we should study the characteristics of dynamic in order to control the manipulator stable and accurately.This paper had improved the model of past manipulator which is based on the rub disc movement composition mechanism and nonlinear control principles, moreover, analyzed the problems in design and present the solutions correspondingly.Further, the paper converted the manipulator into chained system after the kinematics of manipulator is built. The reason for processing the conversion is not only general nonholonomic system all can be converted into chained system, more important; the controllable method of chained system is more easy and mature.After the chained conversion, the paper discussed controllable method of chained system, we applied the time polynomial inputs control solution in our manipulator. The result of simulations indicated that the motion planning and control input can be got effectively by chain form transformation.At the end of this paper, the dynamic model of the four-joint manipulator had proposed, and simulated by MATLAB. The dynamics analysis of the four-joint nonholonomic manipulator shows that the dynamics model of the nonholonomic is similar to general robots. So we can use this method to analyze the dynamic model of general robots to research the nonholonomic manipulator. Besides this, the ideology of dynamic simulations by MATLAB had more important meaning to nonholonomic system's design and optimization.