Non-stop control method and system for mobile robot

Abstract

The invention discloses a non-stop control method and system for a mobile robot, and belongs to the technical field of mobile robot control. The mobile robot comprises a mobile platform and a multi-degree-of-freedom mechanical arm. The method comprises the steps of: controlling the speed of the tail end of the multi-degree-of-freedom mechanical arm to be a speed according to a control rate for motion based on the speed control rate of an executor at the tail end of the multi-degree-of-freedom mechanical arm; based on the speed control rate of the mobile platform, controlling the relative poseof the mobile platform and an object; and taking the speed of the mobile platform as a control quantity, and adopting a feedforward control compensation mode to eliminate the motion component of the tail end of the multi-degree-of-freedom mechanical arm caused by the motion of the mobile platform. The advantages of feedforward control and feedback control are combined, the influence of movement ofthe mobile platform on movement of the tail end of the mechanical arm is reduced, and non-stop operation of the mobile robot can be achieved.

Description

Technical field [0001] The present invention relates to the technical field of mobile robot control, in particular to a non-stop control method and system for mobile robots. Background technique [0002] The mobile manipulator mainly completes various tasks through the end effector of the manipulator. Ideally, the end of the manipulator follows a specific trajectory to perform tasks. The mobile platform adjusts the position of the base according to the pose of the end of the manipulator to assist the manipulator to complete the task. [0003] The traditional mobile robot arm regards the mobile platform and the robot arm as an independent system for control. The mobile platform sends the robotic arm to the designated position and stops, and then controls the movement of the robotic arm. When the mobile platform moves, the robot arm acts as the load of the mobile platform; when the robot arm performs tasks, the mobile platform serves as the fixed base of the robot arm. In this mode...

AI Technical Summary

Problems solved by technology

In this mode, the application of mobile manipulators is greatly limited

[0004] In order to realize the coordinated movement between the manipulator and the mobile platform, and to ensure that the movement of the mobile platform does not affect the movement of the end of the manipulator, most methods start from the dynamics point of view, establish a dynamic model of the mobile manipulator, and then control each joint torque To coordinate and track the robot, and study the dynamic interaction between the mobile base and the manipulator through dynamic modeling. This method is complex and cannot obtain accurate dynamic parameters.

Especially for mobile manipulators assembled using industrial manipulators, most manipulators do not have a torque control interface, so this algorithm is not universal

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