| With the rapid development of industrial robot technology,the research on the theory and technology of composite mobile robot and the deployment of application scenarios have received extensive attention from all walks of life.In a broad sense,the multi-arm composite mobile robot is the integration of the self-developed robot arm and the mobile robot to form the whole system.It is not a simple combination.It connects the two subsystems through motion control to complete the required task requirements.At present,the composite mobile robot usually executes the two subsystems step by step when executing the task command,which limits the research and application characteristics of the composite mobile robot.In order to improve motion efficiency and achieve simultaneous movement of the mobile platform and the robot arm,many researchers have invested in the study of its cooperative movement,so as to give full play to the advantages of the composite mobile robot.This topic is based on a school-enterprise cooperation project and is independently developed as a multi-arm composite mobile robot to achieve autonomous loading and unloading actions in a container environment.This paper studies the motion planning and control of the developed robot.The specific research contents are as follows :Firstly,the overall scheme of the robot system is designed,and the scheme of project research is put forward.According to the actual needs of the project and the working environment of the container,the specific workflow of the robot is designed and put forward.The loading and unloading task of the robot is planned.The fourrudder wheel drive mode is compared and determined as the driving mode of the mobile platform in the system.The depth camera and lidar sensor required by the system are compared and selected.Finally,the control system is designed.Secondly,the mathematical modeling and forward and inverse kinematics of the multi-arm composite mobile robot are studied.Establish the kinematic models of fourrudder wheel mobile platform and multi-link robot arm,and analyze and solve the motion space of the multi-link robot arm.Analyze and solve the forward and inverse kinematics of the multi-link robot arm through a combination of numerical method and closed vector method.Solve its workspace using the chain solution method,laying a theoretical foundation for subsequent motion control.Then,the motion control system and software operation interface of the multi-arm composite robot are studied and developed.With the help of the CODESYS software development environment,the software control program of the system is developed through the idea of modularization and bus.According to the loading task planning of the robot in the container,the trajectory planning control program of the four-rudder mobile platform and the multi-link robot arm is designed,and the human-computer interaction interface is developed,which is mainly responsible for the realization of the control system function.Finally,the prototype building and engineering verification.The hardware part and circuit connection of multi-arm compound mobile robot are introduced.The vangee laser radar is used to obtain the positioning information of mobile platform in space through the combination of reverse and non reverse positioning.The mech-mind depth camera identifies and analyzes the information of the bagged material to obtain the spatial position information of the bagged material relative to the robot,and then uses the positioning data combined with the developed software control program to verify the prototype of the multi-arm composite mobile robot.By designing the linear trajectory and loading task trajectory of the end effector of the multi-arm manipulator in space,the test motion accuracy can reach 98.5 %,which meets the overall loading requirements.The fully autonomous intelligent loading process of the multi-link composite mobile robot system can be realized,and the problem of low loading and unloading efficiency in the current container environment is solved. |
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