Research And Implementation Of The Navigation Subsystem Of Compound Robot

In recent years,the development and manufacturing of robots mushroomed like mushrooms.The compound robot transport system is an important trend in robot development.The price is more expensive.The compound robot includes two parts: a AGV and a robot arm,The AGV has The walking function,the robot arm has a grabbing function,and the two functions can be combined to perform more complicated procedures.Navigation is the key to the system,and there are many ways to navigate.When selecting,the function,performance,and price are often considered.This article studies the compound robot handling navigation subsystem,designed to meet the needs of users to reduce system costs,so the ultimate use of affordable prices,flexible path planning,single-point positioning accuracy of the two-dimensional code navigation to achieve the system's handling capabilities.In the establishment of the map function module,the grid method is used to divide the environment and the required points are calibrated.These coordinates are input to the trajectory planning function module.The optimal ant colony algorithm is used to find the optimal path in the trajectory planning.The function module reads the position information through the two-dimensional code reading head,and can eliminate the continuous accumulation of the error without losing the navigation through the yaw correction function module when the yaw is encountered.The final planned AGV speed and angular velocity are in the kinematics of the AGV.The module is decomposed into the linear speed of each wheel and applied to the Mcnam wheel drive unit,so that the walking accuracy can be controlled within ± 10 mm.After reaching the grabbing point,the target precise positioning function module effectively eliminates the positioning error of the AGV and the placement error of the goods,so that the grabbing accuracy can reach ±0.1 mm.The key points and difficulties in the research and implementation of this paper are as follows:(1)In terms of trajectory planning,EAS is used to intelligently plan an optimal driving path suitable for the on-site environment based on the site map.(2)In yaw correction,the yaw problem is corrected according to the current position information and the planned path,so that accurate control of the moving vehicle body is achieved.(3)In terms of AGV kinematics,It is achieved through the analysis of the AGV model.(4)In the aspect of fine positioning,through the adjustment of the visual equipment installation method and the improvement of the recognition algorithm,the positioning error of the vehicle body and the placement error of the goods can be eliminated at the same time,so as to achieve the purpose of accurate grasping.(5)Finally,with the help of the SIASUN Digital Drive Co.,Ltd.platform,the navigation subsystem of the compound robot was realized.Experiments show that the system has certain research and practical application value.