Research On Optimal Design And Control Algorithm Of Transport Robot For Collecting And Placing Cordons

With the development of mobile robots,transport robots with manipulator have been attracted much research attention.The secure cordon rods are used to ease the flow of people and standardize the order during the peak hours in airport terminals and other public places.Aimed at the problems of heavy weight and difficult handling of secure cordon rods,a new type of transport robot is designed for self-handling,collecting and placing secure cordon rods.According to the special structure of secure cordon rod and working tasks,the structure and working principle of each joint and moving platform of the manipulator are analyzed by cylindrical coordinate mechanical structure,and the dynamic performance of each joint driving motor is matched.The stress distribution and deformation degree of the manipulator in the working state are simulated by static simulation to verify the reasonable validity of the design scheme.Combining the improved manipulator,the kinematic model is established and the working range of the end-effector is calculated by forward kinematic solution.According to the working flow of the manipulator,the joint-space trajectory planning of the manipulator is carried on based on the kinematics model.The spatial motion trajectory of the end-effector and the joint motion curve of the manipulator are obtained by MATLAB simulation.Aiming at the path deviation of transport robot in the process of less tape guidance,a path correction controller based on fuzzy iterative learning is designed.Combined with the six-wheel drive differential mobile platform,the path deviation system based on "rough tape positioning" and "precise tape positioning" is designed to correct the path deviation of different turning radius by fuzzy iterative learning.The experimental results show that the control method can realize the precise positioning and tracking of transport robot.The experimental platform of the transport robot is built by the PC + PLC control system.PC host computer receive and deal with sensor information,then send instructions to PLC.PLC is used to achieve the trajectory planning of manipulator and the motion control of mobile platform.The field experiment shows that the scheme can realize the reasonable motion planning of the manipulator and the tracking of the mobile platform under the less tapes guidance,and can carry out the task of collecting and recycling secure cordon rods efficiently.