Dynamic Simulation And Control Of Nonholonomic Wheel Manipulator

With the advancement of science and technology and the development of society,robot technology,as a multidisciplinary fusion technology,is widely used in various fields.The technology and development of robots affect society and life.Robotic arms operate accurately,while wheeled robots respond quickly and move fast.It is of great significance for human life and social development to study the non-complete wheeled robotic arm system that combines the wheeled robot and the robotic arm.How to achieve the most perfect combination of man and machine,realize the design and control of the robot,make the robot more convenient for human use,complete more high-precision,high-demand work,and better adapt to the current development requirements have become this article.Research focus.In this paper,the non-holonomic wheeled manipulator is the main research object,looking for the best dynamic analysis method and the best manipulator trajectory control method.(1)The traditional Routh equation is used to model the dynamics of the nonholonomic wheeled manipulator system.Through Matlab simulation,it is analyzed that the Routh equation is insufficient when simulating the nonholonomic wheeled manipulator,and the constraint equation is in default.(2)The quasi-coordinate method based on the principle of Gaussian minimum restraint is used to model and analyze the dynamics of the nonholonomic wheeled manipulator system,and the Matlab is used for simulation and comparison with the simulation results of the Routh equation.Both methods can be used.The movement of the model is simulated,and there is no default in the quasi-coordinate method,but there is an error in the constraint equation of the Routh equation.As the simulation time increases,the trajectory of the robot arm based on the Routh equation will deviate from the actual situation,and the quasi-coordinates based on the Gaussian principle are obtained.The form of nonholonomic system dynamics equation is a more suitable method for nonholonomic dynamics analysis.(3)Based on the Gaussian principle,decouple the generalized constraint force and generalized acceleration of the ideal system dynamics problem,so as to obtain a servo control method different from the traditional control method for nonholonomic systems.According to this method,the control target is taken as Constraint conditions to deal with,so that the controllable force can be determined by the decoupling constraint force.(4)The servo control method of non-holonomic wheeled manipulator is adopted by non-holonomic system servo control method based on Gaussian principle,and the target trajectory control of nonholonomic wheeled manipulator is realized,which is the same as the traditional PD control method based on S function By comparison,it is concluded that the non-holonomic servo control method based on the Gaussian principle is a more accurate and rapid robot arm trajectory control method.