Research On Wheel Mobile Manipulator Trajectory Tracking Control

The wheel mobile manipulator is one of the typical structures of the wheel mobile robot,which is composed of a wheel mobile robot and a robot manipulator fixed on a wheel mobile robot.This special structure makes the wheel mobile manipulator possible to have dual attributes,that is to say the wheel mobile manipulator has a wide range of wheel mobile robots' working space and has the flexibility of the manipulator operating space.Previous researchers have studied separately of the wheel mobile robot and robot manipulator,but there is little research on the combination of the two systems.Due to the wide application of wheel mobile manipulator,it can be used to help people to complete some complex work in many dangerous situations,such as radiation zones and toxic places.It also has an increasingly important role in national defense,industrial manufacturing,geological exploration,disaster rescue,service industry and other fields.Therefore,the wheel mobile manipulator has a broad development prospects and high research value.However,due to the complex structure of the wheel mobile manipulator,the uncertainty of the dynamic model parameters and the strong coupling strong interference and other factors,the design and controlling method of the controller has some difficulty.In this paper,the tracking control method of wheel mobile manipulator is studied.Firstly,the trajectory tracking control method of the manipulator is studied.When the wheel mobile robot moves into the manipulated space of the manipulator,the wheel mobile robot stops working,and the trajectory tracking control is realized by the manipulator.Secondly,an adaptive neural network control method RBF is proposed for the wheel mobile manipulator system with unknown disturbance.Finally,a new type of fuzzy control method is introduced for the wheel mobile manipulator system with unknown disturbance.The interval fuzzy control method improves the tracking accuracy of the system and optimizes the performance output of the system.In this paper,the collision-free grasp of a wheel mobile manipulator trajectory tracking control method is studied as follows:1.This part describes the research background and significance of wheel mobile manipulator,summarizes the research status of our country and abroad.The main research contents of this paper are analyzed.2.In this part the kinematic model of the wheel mobile manipulator is established,and the kinematic equation of the wheel mobile manipulator is deduced.Then,based on the Lagrangian dynamics modeling method,the dynamic model is established and the dynamic equation of the wheel mobile manipulator is deduced.3.In this part,a fuzzy adaptive control method is proposed for the trajectory tracking control problem of the manipulating space manipulator.Considering the uncertainty of the model parameters,the matrix and its multiplication operator are introduced.The fuzzy adaptive control method is used to suppress the system modeling error and bounded disturbance to the system to achieve the impact,so as to achieve high-precision track tracking effect.Finally,the stability of the designed controller is proved by the theorem,and the generality and validity of the proposed control method are verified by simulation.4.Aiming at the problem of trajectory tracking control of an uncertain disturbance wheeled mobile manipulator,a joint control scheme of adaptive neural network is proposed in this paper.The adjustable parameter vector of the RBF neural network system is adjusted by the adaptive law,and the approximation error is eliminated by sliding mode control influences.Finally,the stability is ensured by the stability theory Lyapunov,and the generality and validity of the designed controller are verified by simulation.5.Aiming at the problem of trajectory tracking control of wheel mobile manipulator with unknown disturbance,interval type 2 fuzzy is introduced.At the same time,the adjustable parameter vector of the system is adjusted by the adaptive control method,and the sliding mode control Determine the error of the buffering and approximation system.Finally,the advantages and accuracy of the interval type 2fuzzy are analyzed by combining the simulation and comparison of the interval type 2fuzzy and one-type fuzzy methods.6.This part summarizes the whole paper and points out the research direction.