Tracking control method and system for wheel type mobile mechanical arm

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 ...

AI Technical Summary

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 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 Accuracy of kinematic modeling, which affects the effectiveness of control algorithms

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