Research On Motion Control For Dual-arm&Hand Mobile Robot Walking On The Ground

With the development of robot theory and technology, many different kinds of robotprototypes which towards various of tasks have been made. The mobile manipulator fordiscontinuous medium, as one of the robot prototype also become the hot spot in therobot research field, and then how to widen the ability for the task of these robots havebeen a important research orientation. This paper studied in the Dual-Arm&Hands(DAH) mobile robot walking theory on the ground, including the kinematics of therobot, walking stability constraints, movement analysis, trajectory planning, walkingstability control, simulation and so on.As following:According to the Dual-Arm&Hands(DAH) mobile robot prototype, established itssimplified model, analyzed the forward kinematics and inverse kinematics of the DAHrobot with geometry. Derived the ZMP expression of DAH robot and put forward theother mechanical constraints of stable walking. Analyzed the walking ability of DAHrobot, then obtained a turning pattern and a shifting pattern—the two moving pattern ofstraight walking by the movement of DAH robot. According to different walking pattern,adopted the combination of joint space and Cartesian space planning method to plan thewalking sample of different time of the two walking pattern. Established the groundreaction force measure system with contact force sensors then derived the ZMPmeasuring method. Adopted joint compensation control to realize the ZMP control.Analyzed the impact of joint movement on the ZMP to certain the compensation joint.Established a ZMP measure system, and derived the relationship between jointcompensation and the ZMP error, designed joint compensation controller.This paper established the virtual prototype in Adams, according to the simplifiedmodel of DAH robot. Established the walking stability controller for DAH robot inMatlab/Simulink, according to the joint compensation control theory, then built theco-simulation system based on Adams and Matlab. Run the motion simulation of thetwo walking pattern and gained their angle velocity curve and driving torque curve, bothof that proved the correctness of walking sample.Then run the walking controlsimulation under the combination of Adams and Matlab, which proved the effectivenessof walking stability controller of DAH robot.