Research On The Driving And Control System Of Mobile Manipulator

With the advent of flexible manufacturing and “Made in China 2025”,robots are playing an increasingly essential role in manufacturing.However,ordinary industrial robots are limited by fixed deployment.To overcome the limitation,mobile manipulator combines universal robot with smart mobile platform.The development of mobile manipulator is a hot spot in the robot industry.And it is a key point for robots to build a series of flexible,functional and extendable control software system and driver.In this paper,we built control software system and driver for the mobile manupilator used in our project.After selecting sensors and completing designing mobile platform,we built functions such as motion planning,voice control,map building,location,navigation and simulation under ROS.In this paper,we firstly built the mobile manipulator including kinematic solution,power system,controlling system and sensor system.Secondly,we built driver for universal robot and mobile platform separately.The driver system sends all motion commands from main controller to universal robot and mobile platform meanwhile it receives robot data and status from robots.Then we built the control software.For software system development,we divided different functions into different layers.Then we used Unified Robot Description Format for robot visualization in Rviz and Gazebo.The software packages different functions into different plugins which can be dynamic loaded.And all key functions like motion planning,map building,navigation were built into function layers.Then,we introduced kinematic of universal robot and the mobile platform.We built the MDH model for the universal robot,got forward kinematics and inverse kinematics.Collision checking was also built using Flexible collision library.Then we used RRT-connect as the motion planning algorithm and used Cubic polynomial interpolation to make completing path.For the mobile platform,we introduced the kinematics part and used FastSLAM for map building.In addition,we used A star algorithm as global navigation planner and dynamic window algorithm as local planner which gave the mobile platform navigation function.Finally,we designed a set of experiments such as motion planning,voice control,map building and navigation.A large experiment has also be completed.