Research On System Design And Motion Control Of Mobile Robot With Heavy-Duty Manipulator

With the continuous development of the nuclear industry,the industry is facing more and more problems such as nuclear facility maintenance、decommissioning and emergency accident treatment.As a widely used infrastructure in the production and processing of nuclear materials,the hot cell is a typical scenario for these problems.However,Human beings is not suitable working in the high radiation environment,so the industry urgently needs to use robots to replace human to solve the problems.Aiming at the problem of hot cell maintenance,this paper comprehensively analyzes the characteristics,advantages and disadvantages of different types of robots in the field of nuclear industry,and propose a mobile robot with heavy-duty manipulator scheme.Firstly,based on a typical hot cell maintenance scene,the structure scheme of mobile robot with heavy-duty manipulator is designed,and the work flow of robot is planned.Then,based on the structural scheme of the mobile robot with heavy-duty manipulator,the robot prototype and the supporting electronic control and electrical system are designed,manufactured and assembled.Then,the kinematics and dynamics of the mobile robot with heavy-duty manipulator prototype are analyzed,and the mathematical models of different working stages of the robot are established.At the same time,the equivalent physical model of the robot driving motor is established.And the internal parameters of the motor are obtained by parameter estimation.Then,according to the different working stages of the robot the motion path of the robot is planned.In the autonomous navigation stage,on the basis of the hybrid A*algorithm,the node expansion algorithm based on the search arc with environment adaptation and the search arc path heuristic algorithm based on forward prediction are added.At the emplacement stage,the path planning is carried out in the joint space based on the 5-DOF robot arm model,and the motion curves of each joint were obtained.The motion control algorithm of robot in different working stages is designed.In the autonomous navigation stage,A pure tracking algorithm for variable forward-looking range based on searching arc geometry information is proposed as a position loop controller.The robot speed loop and motor speed loop based on PI controller are designed to overcome the asymmetric interference of track parameters on both sides of the robot.In the emplacement stage,a cascade control system is designed for each Motor of Mobile chassis and heavy-duty manipulator.And the effectiveness of the algorithm is verified by electromechanical co-simulation.Finally,the experiments of the robot in the autonomous navigation stage and in place stage show that the mobile robot with heavy-duty manipulator scheme can complete the target task.The mobile robot with heavy-duty manipulator is a reasonable scheme to solve the hot cell maintenance problem.