Unified dynamic modeling method of generalized system of crawler-type mobile manipulator
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A mobile manipulator, dynamic modeling technology, applied in the direction of manipulator, general control system, control/regulation system, etc., can solve the problem of ignoring the influence of the control system, the assumption of complete speed tracking is not established, and the lack of effective measures for the non-holonomic constraints of the mobile platform, etc. question
What is AI technical title?
AI technical title is built by PatSnap AI team. It summarizes the technical point description of the patent document.
A mobile manipulator, dynamic modeling technology, applied in the direction of manipulator, general control system, control/regulation system, etc., can solve the problem of ignoring the influence of the control system, the assumption of complete speed tracking is not established, and the lack of effective measures for the non-holonomic constraints of the mobile platform, etc. question
CN101526801AInactive 📅 Publication Date: 2009-09-09TIANJIN UNIVERSITY OF TECHNOLOGY
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Embodiment 1
[0075] The specific parameters are as follows:
[0076] Body geometry parameters: r=0.105; k l = 1; k r = 1; l f =0.09; b=0.205; l 0 =0.6;
[0077] Geometric parameters of manipulator: l 1 =0.1; l 2 =0.6; l 3 =0.35; l 4 = 0.1;
[0078] Center of mass position of manipulator: pc 1 = 0.07 / 0.1; pc 2 = 0.27 / 0.6; pc 3 = 0.112 / 0.35; pc 4 =0.031 / 0.1;
[0079] The height of the center of mass of each joint of the mobile manipulator: zc 0 =0.25; ll 0 =0.25; ll 1 =0.6; zc 1 =ll 1 +pc 1 *l 1 ;
[0080] Mass of each joint of the mobile manipulator: m 0 =25;m 1 =6.84; m 2 =3.24; m 3 =1.54; m 4 = 1.74;
[0081] Gravitational acceleration: g=9.8
[0082] Moment of inertia of each joint of mobile manipulator: j 0 =0.5512; j 1 =0.077; j 2 =0.18; j 3 =0.035; j 4 =0.005
[0083] After establishing the generalized system unified dynamics model with the method described in the manual, directly add the unified PID coordination controller, τ =...
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Abstract
The invention discloses a unified dynamic modeling method of a generalized system of a crawler-type mobile manipulator. The core thereof comprises the following steps of: utilizing absolute coordinates to calculate kinetic energy and potential energy of the crawler-type mobile manipulator; using lagrangian dynamic method of a robot to carry out unified dynamic modeling to the crawler-type mobile manipulator; and rewriting the modeling into the unified dynamic modeling under the generalized system as the mobile manipulator is a complex system and a mobile platform has incomplete constraint. The invention avoids the error caused by that the coupling and mutual influence of the mobile platform and the manipulator which are respectively modeled and controlled when the mobile manipulator is researched originally, simultaneously has strong theoretical property, clear thinking and easy realization of programming and achieves the purpose of controlling the type of mobile manipulator precisely.
Description
【Technical field】: [0001] The invention relates to the technical field of control of mobile manipulators. [0002] The method mainly relates to a unified dynamics modeling method of a mobile manipulator, especially the dynamics modeling and control of a class of non-holonomic mobile robots with generalized system theory, which can be used for controller design of a solid mobile manipulator. 【Background technique】: [0003] The crawler mobile manipulator system is composed of a manipulator fixed on a crawler mobile platform. At present, the manipulator has been widely used in the grasping operation of the products of the assembly line. The mobile manipulator has two functions of moving and operating at the same time. The movement of the platform expands the working space of the manipulator, so that the manipulator has almost infinite operating space and can perform tasks with a more suitable posture. [0004] 1. Establishing a dynamic model is the need for real-time contro...
Claims
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