Tracking control method and system for wheel type mobile mechanical arm

A mobile robotic arm, tracking control technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of cumbersome process, affecting the accuracy of kinematic modeling, and large amount of calculation.

Pending Publication Date: 2021-04-27
SUN YAT SEN UNIV
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Problems solved by technology

This scheme has the following disadvantages: First, the process of establishing a kinematic model is cumbersome and requires a large amount of calculation; second, when it is necessary to apply the control algorithm to different wheeled mobile manipulators, it is necessary to provide different wheeled models each t

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  • Tracking control method and system for wheel type mobile mechanical arm
  • Tracking control method and system for wheel type mobile mechanical arm
  • Tracking control method and system for wheel type mobile mechanical arm

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[0045]The invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. For the step numbers in the following embodiments, it is only provided for convenience of explaining that the order between steps does not do any defined, and the execution order of each step in the embodiment can be adapted according to the understanding of the art. Sex adjustment.

[0046]Referfigure 1 withFigure 4The present invention provides a tracking control method for a wheel-oriented mobile robot arm, which includes the following steps:

[0047]S1, given initial information and enter a predefined target trajectory information;

[0048]S2, based on the initial value information, predefined target trajectory information and actual information, to solve the reverse motion problem based on the first zero neural network, to obtain a drive signal;

[0049]S3, control the movement of the wheel mobile robot arm according to the drive signal and feedback actual inf...

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Abstract

The invention discloses a tracking control method and system for a wheel type mobile mechanical arm. The tracking control method comprises the steps of 1, giving initial value information and inputting predefined target trajectory information; 2, solving an inverse kinematics problem based on a first zeroed neural network according to the initial value information, the predefined target trajectory information and actual information to obtain a driving signal; 3, controlling the movement of the wheel type mobile mechanical arm according to the driving signal and feeding back actual information; and 4, estimating a jacobian matrix based on a second zeroed neural network and the actual information, and returning to the step 2 to recalculate a driving signal. The tracking control system comprises an initialization module, a driving signal module, a control module and a jacobian matrix module. According to the tracking control method and system for the wheel type mobile mechanical arm, the tracking control of a robot can be realized without knowing the model parameters of the wheel type mobile operation mechanical arm; and the tracking control method and system for the wheel type mobile mechanical arm can be widely applied to the field of mechanical arm control.

Description

technical field [0001] The invention belongs to the field of manipulator control, and in particular relates to a tracking control method and system for a wheeled mobile manipulator. Background technique [0002] In order to achieve control tracking in existing solutions, it is necessary to establish an accurate kinematics model for the wheeled mobile manipulator before solving the inverse kinematics problem. This scheme has the following disadvantages: First, the process of establishing a kinematic model is cumbersome and requires a large amount of calculation; second, when it is necessary to apply the control algorithm to different wheeled mobile manipulators, it is necessary to provide different wheeled models each time. Therefore, the portability of this control scheme on different robots is poor; finally, when there is a certain difference between the recorded robot model parameters and the real model parameters, it will greatly affect the The accuracy of the kinematic ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1607B25J9/161B25J9/1664
Inventor 谭宁余鹏
Owner SUN YAT SEN UNIV
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