Research On Kinematic Stability Of All - Round Mobile Humanoid Robot Robot

In recent years the nursing robot technology is a research hotspot in the field of service robot. Its main function is to assist medical personnel to carry out rehabilitation nursing for the patient. In this paper the wheeled omnidirectional mobile humanoid nursing Robot (WOMR robot) has the advantages of easy control, flexible operation and stable operation with the advantages of wheeled omnidirectional mobile platform and humanoid robot. The mobile platform and the manipulator cooperate to form a kind of cooperative mechanical system, which not only expands the working space of the robot arm and enhances the flexibility of the robot arm, but also makes the nursing robot have the ability to simulate and replace the human to accomplish all kinds of operation tasks.Analyze the development of nursing robot at home and abroad, summarize the research results and point out the shortcomings, which provides the theoretical basis for the research and development of new type of nursing robot, and points out the significance of the research and the development prospect.The structure characteristics of WOMR robot are described, and its differences are highlighted; D-H method is used to model the kinematics of the robot, and the relationship between the terminal position of the robot and the angle of the joint is deduced by the recursion formula; Solve the working space of the nursing robot, determine the range of motion, and verify whether there is a singular point; The three time polynomial interpolation method is used to plan the trajectory of the robot, which is the foundation of the research and the stability control.Focus on the stability of the nursing robot in the process of carrying out the transfer of patients with WOMR, and analyze the stability of the movement in different conditions, such as the choice of the load change, the choice of the way of holding the mobile platform and the full range of movement. At the same time, the stability criterion is put forward from two aspects of static and dynamic stability. The method of gravity projection is used in zero load condition. The theory of zero moment point ZMP combined with the theory of Recursive Newton Euler algorithm is adopted in the load condition. Finally, the simulation software of ADAMS is used to analyze the stability of the motion in different conditions.In order to reduce the influence of the uncertainty factors on the stability of the manipulator, such as the disturbance of the environment, the change of the load parameters, and so on. In this paper, a robust adaptive PD control strategy and a sliding mode control strategy based on the theory of input and output stability are used to control the joint motion accurately and to achieve accurate tracking. Robust adaptive PD control strategy uses adaptive algorithm to compensate the unknown parameters, and the system is controlled by nonlinear PD feedback control; The sliding mode control strategy based on the theory of input and output stability is used to control the model using model information. At the end, the simulation results show the effectiveness of the control algorithm.