Research On Path Planning And Motion Control Of The Tracked Mobile Manipulator

The naissance of robotics is an important symbol of the development of civilization andhuman civilization. With the maturing of scientific research, robotics has been widely used inindustry, agriculture, anti-terrorism, mining and other fields.Extensive use of robots is due to it can mimic the human arm to complete a variety ofsimple or complex operations, thus reducing the labor intensity and risk of production for thelabor force. But the robotic arm on a fixed base in the past causing lots of inconvenience tomany applications because of its limited space. Therefore, the robot with a mobile platformcame into operation.This thesis set a cheetah series robot named LeoBot-Edu as a study object, the maincontent is about kinematics of the tracked mobile manipulator, path planning and motioncontrol, so as to achieve a comprehensive understanding of the robot, and then make it betterto finish the task.In order to answer the above research questions, firstly we get the simplified model ofthe robot, calculate the unified kinematics equation, study its position and orientation foroperational analysis, and then achieve the path plan for a given task. At last, figure outcontrolling issue of the manipulator based on kinematics equation.In path planning, using a genetic algorithm for step-co-ordination of their off-lineplanning, the optimal motion sequence is the theoretical basis for motion control. For thecontrolling part, the mobile platform and the arm were controlled by adaptive fuzzy systemand adaptive neural network, and use the Matlab to simulate the result above to test thefeasibility of the controller and related algorithms.