Motion Planning Of Mobile Manipulator For Grasping Task

With the development of robotic and social economic,the research of the mobile service robot have been widely focused by the researchers in the world.The mobile manipulator with well robust and excellent environment adaptability become a hot research area for the indoor environment.This paper established the mobile manipulator system based on ROS(Robot Operating System)in Gazebo.The kinematics equation is deducted by using vector method,and the corresponding adaptive hierarchical planning method is proposed.What's more,the static and dynamic experiments are performed in the environment of Gazebo.According to the grasping problems of indoor environment,and the grasping requirement of mobile manipulator,this paper provide an adaptive two-finger gripper.The adaptive gripper adopts the underactuated three-phalanges finger,and each joints of finger can rotate for grasping tasks.To controlling the gripper and the relationship between the input force and the contact forces,the dynamic model of the gripper is established,and the kinetostatices of gripper is analyzed.The gripper can grasp the objects by using the power grasp and precision grasp.The stability of gripper is proved in grasping experiment.This thesis addresses mobile manipulator grasp planning research after finishing the system structure of mobile manipulator.On account of the characteristic of mobile manipulator,the kinematics of mobile manipulator is conducted by using vector method,and its kinematics model is built.Then the adaptive hierarchical planning method is presented in consideration of the efficient of mobile manipulator.The planning of mobile manipulator is divided into global planning and local planning,the navigation planning of mobile platform is composed of the global and local planning,and the static and dynamic grasp are analyzed in the motion planning of manipulator.The validity of the adaptive hierarchical planning algorithms are simulated with MATLAB.On the basis of the above work,the navigation controller of mobile platform and the dimensional motion controller of manipulator are designed in Gazebo,and other controlling parameters are set.The motion controlling of mobile manipulator is applied to ROS in Gazebo.In the simulation of mobile manipulator,the static and dynamic grasp are successfully completed by employing the adaptive hierarchical planning method in this paper.And it is turned out that the research of collaborative planning with mobile manipulator is suitable to the grasping tasks for the indoor environment.