Kinematics Analysis And Dynamics Primary Analysis For Mobile Manipulator

With the development of robot technology, multifarious robots were invented to adapt various fields. In these robots, mobile robot is important embranchment.As a kind of mobile robots, mobile manipulator has more advantage than mobile robot and classical manipulator.Because it has almost infinite operation space and more redundancy, and can move and operate simultaneity. Mobile manipulator has good future in application.Due to the problem of complicated configuration, strong coupling, non-linear, nonholonomic etc, the research of mobile manipulator has great challenge.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: 2003AA421040),the thesis is carried on the research to the kinemetics systemic analysis and dynamics primary analysis and for mobile manipulator.The object of research is Hebut-Ⅱmobile robot. The main contents are as follows:First,the hardware system of the mobile manipulator is established. It includes a mobile platform and a 5 degree of freedom manipulator, CCD sensors, ultrasonic sensors and a wireless communication module, etc. The CCD sensor provides the video signal, ultrasonic sensors are used for collision avoidance, the wireless communication module charges for remote control.Secondly, based on the analysis of mobile manipulator's kinematic characteristic, kinematics models of 5 degree of freedom manipulator and mobile platform are analysed. Then, systemic model of mobile manipulator is also established by Denavit-Hartenberg Method. Both forward kinematics and inverse kinematics are analysed, and coupling can be found during inverse kinematics analysis.The program is carried out for kinematics simulation by use of MATLAB language which is good at numeric computation, handle large data and plot data picture. The simulation with Matlab shows the method reasonable and effective.In the end, using the Lagrangian approach, the unified dynamic of mobile manipulator subject to kinematic constrains is obtained. On the base of these, the dynamic sub-models of the manipulator and the wheeled mobile vehicle are considered. These establish foundation of the coordinated control for mobile manipulator.