Motion Control Of Vehicle Robot Based On Grabbing Task

With the gradual deepening of robot-related research,its mobility has become stronger and stronger,compared with humans in a more complex environment with greater flexibility.Among them,because of its small size,flexible operation,low requirements for task execution environment,and easy operation,the vehicle robot is widely used in engineering practice.In view of the limitation of the single-robot in performing complex tasks,this project designed and built a track-bottom robot software and hardware platform,decomposed its motion and crawling process and designed the corresponding algorithm,using vehicle-mounted and external USB.The camera combines the image processing algorithm to carry out navigation and crawling target height calculations for the car robot.At the same time,the Zig Bee ad hoc network wireless communication module is used to build a multi-agent communication network,thereby reducing the complexity of the task.The main work and research results of this paper are as follows:The microcontroller based on ARM Cortex-M3 kernel,by loading the external sensors,Zig Bee wireless ad hoc network module,and selecting the key components of the vehicle robot,such as motor and manipulator,independently designs a cooperative and autonomous hardware platform for the vehicle robot.According to the kinematics analysis of the vehicle robots,the relationship between turning radius and motor speed is obtained through theoretical analysis,so as to achieve small radius direction control of vehicle robot.The target feature recognition algorithm based on RGB color space and the target height acquisition algorithm based on HSV color space are designed.A robot navigation algorithm based on RGB color space target feature recognition algorithm and PID control algorithm are proposed.The image captured by the external USB camera is obtained by using the target height acquisition algorithm based on the HSV color space to calculate the height of the capture target.In order to observe the state of the robot in real time and display the result of image processing,the computer software is developed by using MFC at the computer end.For the two vehicle robots target approaching,PID control is proposed,the distance and angle(l-?)and control branch distance control algorithm based on the combination of the closed-loop system by two ultrasonic sensor and the electronic compass form,distance and angle of the two vehicle relatively favorable grasping target.In view of the error generated by the electronic compass,the least-squares elliptical method is used to compensate the difference in its existence.Modeling of the manipulator by D-H method,the rationality of using MATLAB to test the model,and the mechanical arm joint angle of the inverse solution of the mathematical analytic method,the mechanical arm joint angle and grasp the target distance and the height of the relationship,validated by experiment and simulation crawl inverse solution accuracy method.The manipulator is the inverse kinematics analysis of the relationship between master / slave coupled motion manipulators,realize the synchronous grab of two manipulators.According to the angle of the PID control input error is too large,the vehicle steering robot strategy,optimizing robot steering behavior,combined with the consistency control algorithm,realize the consistency of the two vehicle robots return angle control.