Research On Cooperation Of Double Omnidirectional Mobile ARMS

Multi-robot cooperatively transportation is an important aspect of the multi-robot cooperation research, and shows good prospects in many fields, such as the transportation during succor, the transportation of huge or soft object, transportation in the building site. Thus, the research on multi-robot cooperatively transportation is of great value. The omnidirectional mobile arm in this paper composed of an omnidirectional mobile platform and a mechanical arm, has great flexibility and mobility, which has a lager application range than a single mobile platform or a single arm.Based on the Newton mechanics, the kinematics and dynamics of the cooperative system are analyzed. Then the relationship between gesture, acceleration and the force on the wheels is obtained, and the kinematics and dynamics of the arm are analyzed with D-H method and Lagrange method. The conclusion can serve as the theoretical basis for the robot's movement and track planning of the arm.Adopting Leader-Follower control strategy, Hierachical & Hybrid coodination architecture is designed which can achieve organic complement of the top rational planning and the bottom reactive control, establishes multi-robot cooperative mechanism of different levels and different information modes, and supports cooperative algorithm of task class, planning class and behavior class. Moreover, based on the distribution of roles mechanism, the cooperative system can resolve robot emergency situations.The position restriction, velocity restriction and force restriction in cooperation process is analyzed in detail. Based on the sensor feedback information, Leader-Follower cooperation control strategy is designed, and fuzzy control for the robot is adopted to adjust the gesture of the robot. The three-dimensional geometrical model is set up in Pro/Engineer, and simulations of this model is done in ADAMS, such as the straight move, circle move, move to avoid obstacle, movement to pick up and put down objects and the PD control of position. The validity of control methods is proved by experiment results. The experiment system of cooperative transportation is set up, which is served as the base for the following experiments, such as the robot force feedback experiment, navigation experiment and keeping formation experiment, which prove the correctness of the transporting cooperative mechanism and the validity of the coordination strategy.