Controlling system of movable manipulator
A mobile manipulator and control system technology, applied in the field of control systems, can solve problems such as lack of planning and control, inability to fully utilize the performance of mobile manipulators, difficulties in planning and control of mobile manipulators, etc., to reduce burdens, improve performance, and expand the scope of work. Effect
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[0040] The mobile manipulator system MM controlled by the mobile manipulator control system of the present invention includes an omnidirectional mobile platform MR and a five-degree-of-freedom manipulator MA. Figure 2 is a three-dimensional physical map, in which the mobile platform MR is a closed volume, with three eccentric universal wheels below it, which can complete the three-degree-of-freedom movement of front and rear, left and right, and rotation on the plane. motor and a steering motor drive. A columnar slide rail is vertically arranged at the center of the top of the mobile platform MR, and a manipulator MA is provided on one side of the columnar slide rail. On the slider on the side of the rail.
[0041]The structure of the control system of the present invention is shown in Figure 1. In addition to the power supply system PS, the control system also includes a main control computer M, a display D, a single-chip microcomputer S, a servo motor SE, a servo motor driv...
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