Kinematics Modeling And Trajectory Tracking Control Of Wheeled Omni-Directional Mobile Logistics Platform

With the booming of the industrial 4.0 wave in China,industrial robots have become the new normalization of enterprise intelligent upgrade. The logistics industry, under the catalysis of the rapid development of e-commerce,ushered in new needs and challenges. The traditional logistics is difficult to adapt to new demands, high automation of the new logistics is on the rise. The key is finding a reasonable mobile structure and effective control algorithm to complete the task quickly,both to meet the work environment achieving the objectives, and show the considerable intelligence.Based on the research achievements at home and abroad,the paper compares the structural characteristics of mecanum wheel, orthogonal wheel,ball wheel and eccentric steering wheel and the characteristics of single wheel,multi-wheel.Then,choose the mecanum wheel as the movement structure,and the chassis model is established on the SolidWorks system.In order to describe the motion of the platform,using geometric method of mathematical analysis to establish the kinematics equation;Analyzing the kinematics equation,get the train speed of wheels.It provides the basis for avoiding the wheel slip caused by the lack of coordination of the wheels speeds;Using the forces analysis theory,deduct the the dynamic model of the driving wheel;Taking into account the friction of the actual environmental factors,the Lagrangian equation is used to derive the dynamic model.Based on the pose error and the velocity tracking error,the dynamic model of the omni-directional mobile logistics platform is designed by using the inversion fuzzy system control law.And,the governing equations of the linear velocity and angular velocity of the platform are given.Finally, in order to verify the tracking performance of the control algorithm,MATLAB is used to simulate the control law of the algorithm.