Dynamics Analysis & Controller Design For Mobile Manipulator

With the development of robot technology, multifarious robots were invented to adapt various fields,among which, 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 manipulators have 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 the Tianjin Natural Science Foundation (06YFJMJC03600) and Tianjin High Education Technology Developing Foundation (2006BA11), the thesis is carried on the research to the mobile manipulator. 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.Finally, found uniform kinematics for mobile manipulator.Secondly, using the Lagrange, manipulator's dynamics model is established and. Then mobile platform's dynamics model is established. Finally mobile manipulator's uniform dynamics model is given based on the above context.Thirdly, based on mobile manipulator's dynamics model and sliding mode control theory, design the sliding mode trajectory tracking controller for mobile platform and manipulator respectively.The simulation results are shown at last and demonstrate the effectiveness of the presented algorithm.In the end,in the paper do some preliminary study on the coordinated control for the mobile manipulator.