Research On The Systemic Modeling And Control Technology Of Tracked Mobile Manipulator

The birth and development of the robot is the important achievement of progressof human knowledge. With the deepening of the scientific research, the robot technology not only widely used in agriculture, industry, and are constantly to develop the fields of anti-terrorist, social security, etc.The wide application of robot is because it can largely imitate human arm to complete allneed operation, which will greatly reduce the labors’intensity and dangerous. However, alongwith the requirements of robots work space, the mechanical arm who fixed base already cannot meet the demands of the people, and The emergence of the mobile manipulator solve theproblem effectively. Usually, people studied manipulator and mobile car separately, whichgreatly reduced the rationality,as a result, put the manipulator and mobile car as a whole onresearch is a development trend.Supported by Tianjin Application Foundation and Frontier Technology Research Plan’sProject(10JCZDJC22900) " mobile manipulator dynamics modeling and nonlinear decouplingcontrol research ", This paper introduced a LieBao series LeoBot-Edu-Sarm caterpillar mobilemanipulator as the research object and research the kinematics, dynamics and coordinationcontrol and related problems on the mobile manipulator.In kinematical analysis, according to the features of the structure of the mobilemanipulator, to analyse kinematic and inverse kinematic of the manipulator and set up mobileplatform kinematic model, finally, by simplifying the conditions to build up the systemkinematics model.In the dynamic analysis, based on Newton-euler recursive formula method to separatelyestablish the dynamic model of the manipulator and the mobile platform, finally, through theanalysis of dynamic characteristics of the mobile manipulator, establishing a uniform dynamicmodel.In coordination control, This paper carried on the respectively controlling by setting theway of mobile manipulators operation, first put an backstepping control algorithm ontrajectory tracking according to the dynamic model of mobile platform, and sliding-modevariable structure control algorithm were used for trajectory tracking on the dynamic model ofthe manipulator, finally reach coordination control to the mobile manipulator.