| In the field of storage,there are a wide variety of goods,causing difficulty in sorting and transportation.Intelligent storage has always been the pursuit of enterprises,and the research and development of automatic equipment has gradually become the focus.Among those automatic equipment,the mobile manipulator has been widely used because of its wide range of operation.A mobile manipulator for autonomous operation was developed,which was aiming at the problem of tedious manual operation,the single function of existing machine,the semi-autonomous and the control of the unmanned aerial vehicle in the storage system,It can be used in commercial warehouses,medical warehouses or other warehouses to carry out the sorting and transportation of goods.The main work is as follows:1.The existing application status of automatic equipment in the field of storage field at home and abroad had been analyzed.2.The design index of the mobile manipulator was determined according to the application situation,and the geometric structure,the hardware system and the software system were also designed.3.A multimodal interaction nodes system based on ROS was designed in order to enhance the human-computer interaction of the mechanical arm,thus a variety of ways are provided to command and control the robots.4.The connecting rod model of the six degree of freedom manipulator was established.The D-H parameter method was used to analyze the positive kinematics,and the working space was also obtained.The inverse solution of the manipulator was obtained by the inverse of the matrix.The forward and inverse kinematics of the manipulator was simulated and analyzed in Matlab,thus the reliability of the storage manipulator was verified.5.The simulation platform of the mobile manipulator was built by moveit!,and the autonomous operation of the manipulator was realized by using the motion planning algorithm PRM based on sampling.The reliability of the system was simulated and verified by the related experiments. |
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