Robot dynamics modeling method based on multibody system discrete time transmission matrix method

Abstract

The invention discloses a uniform dynamics modeling method based on a mmultibody system discrete time transmission matrix method and for a crawler-type moving robot. The method mainly includes: building a multibody system dynamics model for breaking up the whole into parts, and determining a state vector; determining a transmission matrix U and a transmission equation zO=UzI for each element; assembling the transmission matrixes of the elements to form a general transmission matrix Uall and a general transmission equation Uallzall=0 of a system; according to boundary conditions, solving the system transmission equation to acquire a boundary state vector of a moment ti; applying the transmission equations of the elements to solve a state vector of each connecting point of the system at the moment ti. By the method, the circumstance that errors caused by coupling and mutual influence are neglected during modeling of a moving platform and a mechanical arm when moving robots are studied in the past is avoided, the method is high in theoretical property, clear in thinking and easy in realization of programming, and the objective of accurate control on the moving robots can be achieved.

Description

technical field [0001] The invention relates to the technical field of dynamic modeling of mobile robots. [0002] The method mainly relates to a unified dynamics modeling method of a crawler mobile robot, especially the dynamics modeling of a class of mobile robots using the multi-body system theory, which can be used for the controller design of the mobile robot. Background technique [0003] In recent years, due to frequent natural disasters such as earthquakes and tsunamis and human factors such as terrorist organizations, huge losses of life and property have been caused to countries all over the world. With the rapid development of robot technology, rescue robots replace humans in complex and dangerous environments such as earthquake disasters and nuclear pollution to complete tasks such as detection, search and rescue. The tracked mobile robot system is composed of a manipulator fixed on a tracked mobile platform. The mobile robot has two functions of moving and ope...

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Problems solved by technology

Its advantage is that it can partially overcome the influence of dynamic coupling and external disturbance, but its disadvantage is that it must meet the continuous excitation conditions; (2) Yamamoto Y uses nonlinear feedback to perform centralized compensation for coupling, but experiments have proved that this compensation is for The tracking error caused by the movement of the platform works well, but it is difficult to compensate the tracking error caused by the movement of the manipulator

[0008] At present, there are few studies on the control of tracked mobile robots using unified kinematics and dynamics modeling, and the existing methods lack effective measures for the nonholonomic constraints of mobile platforms.

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