Research On The Motion Of An Omnidirectional Assembling Mobile Robot Based On Multi-sensor

Omni-directional mobile robot(OMR)can become an important automatic guided vehicle(AGV)with obvious advantages.Nowadays,AGV plays an important role in the field of intelligent logistics with great potential for development.The work of this paper is to develop an omni-directional assembling mobile robot(A-OMR),which is oriented to the narrow space environment and freight logistics.The paper mainly research on the design of the control system based on multi sensors,the methods of trajectory following,target location by rotation collaborative assembly,and obstacle avoidance.The rationality and practicality of the correlation algorithm are verified by the experiment.The paper first gives a general and scientific description about the whole structure.By analyzing the merits and shortcomings of the MY wheels,a new kind of omni-directional wheel(DSCDOW)is presented.The structure of the wheel is improved,especially to change the installation from the traditional tandem form to parallel form.And parallel manipulator on the mobile platform with four groups of DSCDOW wheel is built.Based on the design scheme of the robot,the kinematics model of the mobile platform is presen ted.In addition,the kinematics model of parallel mechanism is also established,which has two parts of kinematics constitute the integrated kinematic model.Then,the control system of the robot is built.In order to ensure the stability and real-time performance,the control system based on NI myRIO-1900 microcontroller is developed.Three-layer structure is designed in the control system of the robot.The upper structure is a host computer,the middle structure is a microcontroller and the lower structure are drive modules and multi sensors.In this system,controlling software is also developed based on LabVIEW,which achieves human-computer interaction function.Finally,a control method based on multi-sensor is proposed.The realization of trajectory tracking control method is based on infrared sensor,which also considering omnidirectional characteristics of the robot,a kind of circular array tracking infrared is proposed.In order to improve the tracking accuracy,the single-layer circumferential array and the double-layer circumferential array are compared and analyzed.It has higher tracking precision by double-layer circumferential array.Then the trajectory feature is optimized,the optimal trajectory width corresponding to the double-layer array is obtained.Trajectory tracking control method based on above,in order to make the robot locate accurately in the target position for high-precision assembly,the method of target position rotation location is proposed.The movement simulation of the positioning process is carried out and the validity of the method is verified.In addition,the method of collaborative assembly based on infrared tracking module and obstacle avoidance are calculated and analyzed.And trajectory tracking and obstacle avoidance experiments are performed on the robot prototype to verify the proposed tracking method.