| Robot is increasingly important in production and life in the 21 st century.Mobile robot is a engine body that consist of mobile platform and a multi-degree-of-freedom manipulator located on the platform.The range of workspace and activity is unlimited.But because of strong coupling,high redundancy and non-holonomy,the control of mobile manipulator during its moving process becomes very difficult.In this paper,based on some existing results,a systematic and comprehensive analysis is made for 5-DOF mobile manipulator in terms of kinematics and dynamics.The contents of this master thesis can be illustrated as follows:First one,related mathematical concepts of mechanical arm are introduced.Then according to the given DH parameter table,the model of 5-DOF manipulator is established,and the speed of each joint is studied.On this basis,kinematics models of the arm and platform have been established.Next,continuous path planning problem of the mobile manipulator is studied and designed. Robot path planning is complex,multiconstraint,etc.On the basis of existing research, interpolation method of movement is expanded to Descartes space by using differential geometry, so we can get smooth movement between joint space and D-space.After positioning two ends of the end-effector,we can achieve the stability of the arm in movement.Computer simulation verifies its stability.At last,with the help of Newton-Euler method,dynamic models of platform and manipulator are deduced respectively,and then by using the equilibrium equation of torque,the two models have been unified.Finally,with the conclusions above,a dynamic tracking controller is designed for the mobile robot.Feasibility of controller is verified by MATLAB simulation. |
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