Research On Coordinated Control Of Dual Mobile Manipulator

Dual mobile manipulator system,which is used for Gas Insulation Switch(referred to as GIS)for non-destructive testing can greatly improve the efficiency of equipment detection,reduce and prevent the substation power failure caused by malfunction of GIS equipment.This research is supported by the key technology project of Nanfang Power Grid,"Power Equipment X-ray Non-destructive Testing and key technology of Robot",a set of prototype of Dual mobile manipulator is developed to meet the demands of non-destructive testing task of GIS equipment in outdoor substation,then some related experiments are conducted,which improved the level of power equipment automated maintain operations.Firstly,this paper begins with a review of related work in coordinated trajectory planning technology of dual mobile manipulator,especially on research of kinematics model and trajectory planning.On this basis,the kinematics analysis of the mobile manipulator and the dual mobile manipulator system are carried out from the kinematics of the manipulator.Then,based on the kinematics model,the trajectory planning algorithm of the dual mobile manipulator system is studied deeply.And,the modular design method is used to design the system of the dual mobile manipulator system.Finally,the simulation and experiment study on the coordinated planning of the dual mobile manipulator system are carried out.The specific research contents are as follows:Establish kinematics model of dual mobile manipulator.Firstly,the kinematics model of the three-degree-of-freedom transmitter operating manipulator and the six-degree-of-freedom receiver operating manipulator and the mobile platform are respectively solved according to the structural characteristics of the dual mobile manipulator system.Then,the coordinated operation model of dual mobile manipulator system is established based on the non-destructive testing task.Research on trajectory planning of dual mobile manipulator system.Consider theUR10 robot as an example,a mobile manipulator trajectory strategy based on the operability is proposed under the premise of solving the flexible workspace.At the manipulator level,a GA-APF manipulator path planning method is proposed,then a set of points are selected for B-spline trajectory planning.And at the mobile platform level,GA-APF is used to plan for a path without collision.Finally,the task requirements are analyzed,and the task planning models both along the fixed mirror and the revolving mirror are designed.Dual mobile manipulator system integration design.On the basis of analyzing the design requirements of the system,the modular design pattern is used to build the transmitter operating manipulator and the receiver operating manipulator physical prototype.The dual mobile manipulator system includes a host computer,which consisting of ground base station and a hand held controller,and lower position computer that contains two mobile robots.In order to reflect the modular design concept,the system is divided into control module,drive module,communication module and so on.The simulation and experimental study of dual mobile manipulator were conducted.Aiming at the kinematics model and the trajectory planning theory of the dual mobile manipulator system,the simulation is carried out based on the MATLAB robot toolbox.According to the right simulation results,in simulation-guidance-experiment way,the whole experiment of non-destructive testing of the dual mobile manipulator system in the outdoor structural environment is carried out.The experimental results prove the correctness and feasibility of the system kinematics model,the trajectory planning method and the reliable performance of the physical prototype.