Research On Trajectory Planning And Control System Of Mobile Manipulator

With the progress of society and the rapid development of science and technology,the need for automation in industrial production is increasing.Robots have emerged as the times require,greatly improving production efficiency.The industrial robot has flexible operation and is widely used in various industries.The mobile manipulator is a robot system composed of a manipulator fixed on the mobile robot.It has the mobility of the mobile robot and the maneuverability of the manipulator.It not only expands the operating space of the manipulator but also copes with the complicated working environment.Therefore,it is of great theoretical and practical value to study the motion planning and control system of mobile manipulator.Based on the JNPF-4WD-02 mobile robot developed by the research group,the mobile manipulator are built and studied.The kinematics model,motion control,trajectory planning,control system software and hardware development of the mobile manipulator are studied and designed.Finally,a mobile manipulator control system was designed and developed.Firstly,the kinematics of the mobile manipulator is analyzed.The EFORT ER3A-C60 manipulator and the JNPF-4WD-02 mobile robot are mathematically modeled respectively.The transformation relationship of each joint coordinate of the manipulator is established.The process of solving the forward kinematics and inverse kinematics of the manipulator is briefly analyzed.The whole mobile manipulator's kinematics analysis is carried out,and the inverse kinematics solution method for optimizing the attitude of the mobile robot is proposed for the redundant kinematics model of the mobile manipulator.Secondly,the trajectory planning research on the operating mechanism of the mobile manipulator is carried out.The joint space planning and Cartesian space trajectory planning method are studied,including the polynomial trajectory interpolation algorithm in joint space,the basic trajectory and attitude planning of straight lines and arcs in Cartesian space,acceleration and deceleration planning research.Then,for the efficiency and stability of the task trajectory,a space trajectory optimization method for the joint of the manipulator is proposed.The trajectory interpolation was performed using a 5-times-B-spline function with local controllability,and the time and joint jerk of the trajectory were performed to optimize the target by NSGA-II.The simulation was verified with MATLAB.Finally,the control system structure,hardware and software system of JNPF-4WD-02 mobile manipulator are studied.The mobile manipulator hardware system is built on the JNPF-4WD-02 mobile robot,and the modular development is carried out with the CoDeSys development environment.The embedded soft PLC controller of the customized CoDeSys Runtime framework is used as the upper monitor running control software to realize the robot manipulator motion control.These basic functions of the completed mobile manipulator are tested.In this paper,the mobile manipulator is taken as the research object,and the kinematics model,motion control,trajectory planning,control system software and hardware of the mobile manipulator are studied.The structure of the mobile manipulator is designed and the mobile manipulator control system is developed.The experimental results show that the mobile manipulator designed and constructed in this paper can perform stable operation and perform specified actions.The developed software can achieve a better control of mobile manipulator.