Autonomous Mobile Manipulator Trajectory Planning

With the development of industrial automation and industrial upgrading, the application of industrial robots will be more popular. It has made the important contribution in improving production efficiency, reducing production cost and improving the working environment. The trajectory planning of robot is the base of the robot control system planning, and good planning scheme for the precision and stability of the robot is very important. So a lot of scholars and researchers have done so much work in the studies of this topic to improve the performance of the robot.The research of model for autonomous mobile robot arm is a typical experimental equipment of robot laboratory guang dong university of technology (105).The main component of the autonomous mobile robot arm is a robot arm combined by five rotating and a mobile car with wheel of the omni-directional.Two part of the system can be controlled alone or combined with together. The kinematics model of mechanical arm and moving trolley has been established before the planning started. Respectively, the inverse kinematics is solved, and that gained anticipative effect.The main direction of the research is for trajectory planning. We make a detail discussion on the basic methods before the start of the trajectory planning, and write the algorithm using MATLAB software programs based on the basic theory,and the kinematics model algorithm.The study makes a trajectory planning through different methods of spatial straight line and spatial arc line. In spatial straight line of the planning, it uses continuous cubic polynomial on the joint variable condition, so gets anticipate result in the joint variable input and the output reached in Cartesian space; In spatial arc line of the planning, it uses continuous high-order polynomial interpolation algorithm for each constraint, making them not only in the space at the end of the output but also satisfy the trajectory planning, and ensure the continuous acceleration in joint space requirements, That has very important significant to improve the stability of mechanical arm. When the mechanical arm works on the outside of the scope, we need to move the omni-directional mobile car. Due to the omni-directional mobile, it can satisfy the movement along a straight line in space, achieve the optimal solution of the distance by choosing appropriate and steering wheel speed. Mixed parabolic interpolation algorithm is adopted in the car, so it can satisfy the parabolic ability when start or stop the car, and it can maintain a constant speed intermediate position.Write corresponding program according to the above trajectory scheme respectively. Get the theoretical results and verify the correctness of the theory through the simulation.