Desigen And Motion Control Of The Nonholonomic And Underactuated Manipulator

Nonholonomic constraint is refers to the constraints on the system velocity can not transform into constraints on the space through integral transformation, and the system including Nonholonomic constraints is called Nonholonomic system. Nonholonomic system is not integrated and it enable less control input to determine the motion within configuration space of which the dimension is more. The Nonholonomic robot in practical may include some joints which are driven by the motor of others but not itself, and reduction of motors will decrease weight, power consumption and cost of the robot. Therefore, nonholonomic robot has a high application value on the defense and industrial research nonholonomic robot have great practical significanceThis thesis work and research:(1) Constructed a three-joint robot on the basis of nonholonomic constraints characteristics of the friction disc transmission and non-integrity and controllability analysis, kinematics model of the nonholonomic manipulator. Through the chain transform and inverse transform, the nonholonomic robot motion control.(2) Increase in the nonholonomic manipulator based on three joint implementation of grasping with three degrees of freedom, so as to constitute a six-joint robot. Six joint manipulator kinematics analysis, the manipulator based on rigid body motion and the theory of spinor direct kinematics and inverse kinematics solution of the general solution algorithm and the specific steps.(3) Six-joint manipulator movement of the joint space, the establishment of the working range of the end of the clutch of six joint manipulator, and gives the workspace grid description.(4) Set of six joint manipulator movement, and use the kinematics equation solving method to solve each location corresponding to the angle value. Nonholonomic manipulator of three joint motion control method in matlab simulation, and the time scale transformation method to optimize robot movement process. Further six-joint robot kinematics simulation, to come to the end of the six-joint manipulator grasping the trajectory of the entire course of the campaign, the theory proved the feasibility of the six-joint robot motion control.(5) Build a six-joint robot manipulator motion experiment platform, exercise and experimental study. Two motors in the simulation input response curve to control the rotation of the two servo motors to control movement, the first three joint angles with three servos to control the implementation of the three joints of the clutch to complete the experimental study of robot handling. Collection of non-complete robot three joint angle, the actual output response, and compared with the theoretical value, the motion is basically the same results, to prove the feasibility of its motion control.