Mobile operation mechanical arm tail end force application control method and system

Abstract

The invention belongs to the technical field of robot control, and provides a mobile operation mechanical arm tail end force application control method and system. The total expected motion trail of a mobile operation mechanical arm is decomposed into a mobile chassis expected motion trail and a mechanical arm expected motion trail; whether the expected movement is transferred to the movable chassis to be controlled or not is judged by comparing the expected movement with a preset working space in a movement track parameter library, and the interaction condition of the movable chassis and the mechanical arm is considered; meanwhile, on the premise that a first control target of expected movement of the end effector of the mechanical arm is completed, the position of the end effector of the mechanical arm is controlled and adjusted through a Cartesian space, then the direction of the mechanical arm is controlled through a null space, the direction operability of the mechanical arm is improved, and a second control target of the force application capacity of the mechanical arm is completed; the force application capacity of the tail end of the mechanical arm is improved, and the tracking precision of the tail end of the mechanical arm is improved.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a method and a system for controlling the force exerted by the end of a mobile working manipulator. Background technique [0002] Mobile manipulators have flexible maneuverability and good operational performance, and have been used in many application fields, including household services, special disaster relief, and logistics and distribution. The integration of the mobile chassis of the mobile manipulator and the six-degree-of-freedom manipulator can effectively improve its working space and provide it with more degrees of freedom. [0003] But the integration of this chassis with the robotic arm also brings new difficulties. First, the model and interactive environment of the mobile chassis and the manipulator are different. The chassis is usually in an unstructured environment with complex dynamics, while the manipulator is usually in a free contact enviro...

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Problems solved by technology

[0003] But this integration of the chassis and the robotic arm also brings new difficulties

First, the model of the mobile chassis and manipulator is different from the interactive environment. The chassis is usually in an unstructured environment with complex dynamics, while the manipulator is usually in a free-contact environment. Second, due to the combination of the chassis and the manipulator, the mobile The robotic arm is actually a kinematic redundant system, which will cause more degrees of freedom in the redundant system than are required to perform the task, increasing the requirements for control

[0004] The inventors found that most of the current research regards the chassis as an additional mechanism of the manipulator, without considering the inherent differences between them in terms of dynamics and interaction environments; since the positioning accuracy of the mobile chassis is usually low, such methods lead to mechanical problems. The tracking error at the end of the arm is relatively large; most of the research on improving control accuracy is carried out in the context of dynamic control, using complex control strategies, it is difficult to ensure the stability of the system; in addition to trajectory planning, mobile manipulators are often used to deal with high Load tasks, in which moving the manipulator must exert a large force on its environment, and the current research is only carried out in the null space for the force control of the end of the manipulator, without considering any optimization in Cartesian space and Get Better Force Ability / Maneuverability

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