Research On Motion Planning And Coordinated Control For Wheeled Mobile Manipulators

Mobile manipulator system is a mobile platform and fixed on the mobile platform of mechanical arm. The system has wide mobile platform of space flexible mechanical arm and operability. Study of the system has a lot of progress, considering that the system is an integral system of a whole, in the process of its mission, the mobile platform and manipulator movement between coupling, accompanied by serious nonlinear, relative to the sole control of the individual and to consider the problems of coordinated control system which makes the whole control is not easy, for the control algorithm of research put forward higher requirements. Therefore, research of mobile manipulator system motion planning and trajectory tracking algorithm has the milestone significance.In this paper can be mobile manipulator system as the research object, mainly from the Angle of the theory of the motion planning and coordination of system control and trajectory tracking control of the research, the main research content is as follows:First of all, establish the unification of the mobile manipulator system of kinematics and dynamics model. According to the composition of the mobile manipulator system structure, exist for nonholonomic constraint based on kinematics model of the mobile platform, and derive the dynamic model of the platform. Lagrange balance method is adopted to establish the mobile dynamics equation of mechanical arm, and combined with nonholonomic constraint equation, create a unified the kinematics and dynamics equation of the system.Secondly, this paper will be mobile manipulator motion planning and coordinated control system, will use the thinking mode of representation space, and various kinds of mobile manipulator system variables are mapped to the study on unified representation space. And will be A star algorithm is applied to the characterization of the space, and the mobile manipulator system by manipulating the space environment is analyzed.Finally, in view of the trajectory tracking problem of mobile manipulator systems, often the chattering problem existing in the sliding mode control based on fuzzy gain adaptive adjustment algorithm. Simulation experiment, the method can effectively the chattering problem existing in the conventional sliding mode control, increase the stability of the control system and achieve the ideal effect.