A mobile work robot manipulation method

Abstract

A mobile operation robot should include a manipulation terminal, an omnidirectional mobile chassis, a mechanical arm, an electrical control system and the like; a coordinate system selection button is arranged on the manipulation terminal, and an automatic coordinate system, an operator coordinate system, a load coordinate system and a chassis coordinate system can be selected by an operator; when the manipulation terminal is installed at the end of the mechanical arm, the robot electrical control system can automatically detect that the manipulation terminal is at the end of the mechanical arm, at this time, the robot automatically defaults to the load coordinate system to perform operation movement; when the manipulation terminal is installed on the omnidirectional mobile chassis, the robot electrical control system can automatically detect that the manipulation terminal is on the omnidirectional mobile chassis, at this time, the robot automatically defaults to the chassis coordinate system to perform operation movement; when the manipulation terminal is carried by the operator, the robot electrical control system can automatically detect that the manipulation terminal is separated from the end of the mechanical arm or the omnidirectional mobile chassis, at this time, the robot automatically defaults to the operator coordinate system to perform operation movement.

Description

A method for controlling a mobile work robot Technical Field

[0001] This invention relates to the field of manipulatory robot technology, and more specifically to a method for controlling a mobile work robot. Background Technology

[0002] Currently, existing mobile robots generally have only one control terminal installed on the mobile chassis or carried by the operator. The operator can operate the robot to perform tasks from this single control terminal. This control method has the following problems: 1. If the control terminal is fixedly installed on the robot's mobile chassis, the distance between the operator and the target object of the robot's end effector is relatively far, and the robot's end effector movement is usually controlled in the mobile chassis coordinate system rather than the work load coordinate system. Therefore, it is difficult for the operator to control the robot's end effector to complete high-precision tasks. 2. If the control terminal is carried by the operator, the relative posture between the operator and the robot's end effector is uncertain. Therefore, it is difficult for the operator to intuitively control the robot's end effector to complete high-precision tasks from their own perspective. It is easy to misoperate the robot's end effector working direction, resulting in low work efficiency or damage to the robot arm, end effector load, and target object. In view of the above problems, and considering the need to operate mobile robots to carry out more efficient and safer operations, especially for mobile robots that require human-in-the-loop operation, handling of valuable and dangerous loads, the operation process needs to fully consider the intuitiveness and convenience of operator control. Therefore, it is necessary to invent a control method that enables operators to control mobile robots more intuitively and conveniently, thereby improving work efficiency and ensuring work safety. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the lack of intuitiveness and convenience in controlling mobile operation robots. To solve the above problems, a method for controlling mobile operation robots is provided.

[0004] The object of this invention is achieved in the following manner:

[0005] A method for controlling a mobile work robot includes an omnidirectional mobile chassis, a multi-degree-of-freedom robotic arm mounted on the omnidirectional mobile chassis, a control terminal for controlling the movement of the robotic arm, and an electrical control system communicatively connected to the control terminal. The method includes...

[0006] S1: Define the motion coordinate system of the omnidirectional mobile robot according to the right-hand rule; including the load coordinate system, chassis coordinate system and operator coordinate system;

[0007] S2: Determine the position of the terminal in the current operation, and select the robot's operation motion coordinate system based on the position;

[0008] S3: When the control terminal is installed at the end of the robotic arm, the main control computer of the robot's electrical control system automatically detects that the control terminal is at the end of the robotic arm through a digital IO interface. The operator controls the robot's moving chassis or robotic arm to make the load end move with the load coordinate system as a reference.

[0009] S4: When the control terminal is installed on the omnidirectional mobile chassis, the robot electrical control system automatically detects that the control terminal is on the omnidirectional mobile chassis through a digital IO interface. The operator can control the robot's mobile chassis and robotic arm so that the end load of the robotic arm can perform operation with reference to the operator's coordinate system.

[0010] S5: When the control terminal is carried by the operator, the robot's electrical control system automatically detects that the control terminal has detached from the end of the robotic arm or the omnidirectional moving chassis through a digital IO interface. The operator wants to control the moving chassis so that the end load of the robotic arm moves with reference to the operator's coordinate system.

[0011] When selecting the robot's work motion coordinate system in S2, the control terminal should first be installed on the end of the robot's robotic arm or on the mobile chassis before the robot's electrical control system is started. When the robot's electrical control system is powered on, the main control computer of the electrical control system will establish real-time communication with the control terminal after the system initialization is completed. Specifically, S2 includes: the main control computer detecting the status signals of the digital IO interface and the status information of the control terminal in real time.

[0012] If the I / O interface signal connected when the control terminal is installed at the end of the robotic arm is triggered, the position of the control terminal at that time is determined to be at the end of the robotic arm. When the operator removes the control terminal from the end of the robotic arm and holds it by hand to control the robot according to the task requirements, the robot's electrical control system can automatically detect the disconnection of the I / O signal connected to the joystick through the aforementioned digital I / O interface. The robot control software automatically updates the position of the control terminal to the operator's position. At the same time, the joystick's processing unit also automatically detects the disconnection of the signal from the robot's electrical control system through the digital I / O interface, and then initializes the measurement information of the IMU unit inside the joystick. Subsequently, the position and attitude increment ΔT generated when the operator holds the control terminal and moves in space is determined. IMU The velocity information measured by the IMU unit can be integrated to obtain the position and attitude increment information ΔT periodically sent by the control terminal. IMU The pose relationship between the control terminal coordinate system (operator coordinate system) and the robotic arm load coordinate system is calculated cumulatively. It can also be combined with the pose relationship between the robotic arm's load coordinate system and the mobile chassis coordinate system. The pose relationship between the control terminal coordinate system (operator coordinate system) and the mobile chassis coordinate system is calculated.

[0013] If the I / O interface signal connected to the control terminal during installation on the mobile chassis is triggered, the current position of the control terminal is determined to be the mobile chassis. When the operator removes the control terminal from the mobile chassis and manually carries the robot according to the work task, the robot's electrical control system can automatically detect the disconnection of the I / O signal connected to the joystick through the aforementioned digital I / O interface. The robot control software automatically updates the position of the control terminal to the operator's position. At the same time, the joystick's processing unit also automatically detects the disconnection of the signal from the robot's electrical control system through the digital I / O interface, and then initializes the measurement information of the IMU unit inside the joystick. Subsequently, the position and attitude increment ΔT generated when the operator moves in space while holding the control terminal is determined. IMU The velocity information measured by the IMU unit can be integrated to obtain the position and attitude increment information ΔT periodically sent by the control terminal. IMU The pose relationship between the control terminal coordinate system (operator coordinate system) and the mobile chassis coordinate system is calculated cumulatively. It can also be combined with the pose relationship between the robotic arm's load coordinate system and the mobile chassis coordinate system. The pose relationship between the operator coordinate system (the coordinate system of the control terminal) and the end-effector load coordinate system of the robotic arm is calculated.

[0014] S4 specifically includes: establishing a system based on x b o b y b Equations of motion for the end effector load and chassis, with the chassis coordinate system as the motion reference:

[0015]

[0016] Equations 1) and 2) are the forward and inverse motion equations for the end effector load of the robotic arm, respectively. b X, b Y represents the position of the end effector load of the robotic arm in the chassis coordinate system, [θ1, θ2]. T Equation 3) represents the rotation angles of the base rotary joint and end rotary joint of the robotic arm; Equation 4) is the inverse motion equation of the chassis, where... b V x , b V y , b W z Let [w1, w2, w3, w4] be the instantaneous velocity in the robot's chassis coordinate system. T The rotational speed of the four wheels on the robot's chassis;

[0017] If the operator wants to control the robotic arm so that the end effector moves with reference to the chassis coordinate system, the discrete calculation processing steps are as follows:

[0018] ①The main control computer obtains the rotation angles θ1(0) of the base rotary joint and θ2(0) of the end rotary joint of the robotic arm in the initial state, and calculates the initial position of the end load of the robotic arm using Equation 1). b X(0), b Y(0), and initialize the desired end-load position of the robotic arm in the chassis coordinate system in the (k-1)th control cycle to [ b X(k-1), b Y(k-1)] T =[ b X(0), b Y(0)] T ;

[0019] ② The operator uses the control terminal to specify the desired instantaneous speed of the robotic arm's end effector load in the chassis coordinate system for the kth control cycle. b v x (k), b v y (k)] T And calculate the expected position increment [Δ] of the load at the end of the robotic arm. b X(k),Δ b Y(k)] T =[ b v x (k), b v y (k)] T *dT, where dT is the control cycle interval time;

[0020] ③ Calculate the desired end-effector load position in the chassis coordinate system during the k-th control cycle. b X(k), b Y(k)] T =[ b X(k-1)+Δ b X(k), b Y(k-1)+Δ b Y(k)] T ;

[0021] ④ will [ b X(k), b Y(k)] T Substitute equation 2) to obtain the desired angle of each joint of the robotic arm, and then control the joints of the robotic arm to reach the desired angle through the position controller of each joint;

[0022] By repeating steps ② to ④, the chassis can be manipulated to move the end effector load of the robotic arm with reference to the chassis coordinate system. That is, the end effector load of the robotic arm can move along the x-axis of the chassis coordinate system. b axis, y b It can perform translational motion along the axis and has two degrees of freedom.

[0023] The operator wants to control the moving chassis so that the end effector of the robotic arm moves with reference to the chassis coordinate system. The discrete calculation process is as follows:

[0024] ① The operator uses the control terminal to specify the desired instantaneous speed [v] in the chassis coordinate system for the k-th control cycle. x (k),v y (k),w z (k)] T ;

[0025] ② [v x (k),v y (k),w z (k)] T Substitute into equation 3) to obtain the desired angular velocity of each wheel of the chassis, and then control the wheels to reach the desired angular velocity through the speed controller of each wheel of the chassis;

[0026] ③ By repeating steps ① to ②, the chassis can move with reference to the chassis coordinate system, that is, the chassis can move along the x-axis of the chassis coordinate system. b axis, y b Translational motion along the axial direction and around the Z-axis b It rotates along an axis and has three degrees of freedom.

[0027] S3 specifically includes:

[0028] The operator wants to control the moving chassis so that the end effector of the robotic arm moves with reference to the load coordinate system. The discrete calculation processing steps are as follows:

[0029] ①The main control computer obtains the rotation angles θ1(0) of the base rotary joint and θ2(0) of the end rotary joint of the robotic arm in the initial state, and calculates the initial position of the end load of the robotic arm using Equation 1). b X(0), b Y(0), and initialize the desired end-load position of the robotic arm in the chassis coordinate system in the (k-1)th control cycle to [ b X(k-1), b Y(k-1)] T =[ b X(0), b Y(0)] T ;

[0030] ② The operator uses the control terminal to specify the desired instantaneous velocity of the robotic arm's end effector load coordinate system for the kth control cycle. e v x (k), e v y (k)] T ;

[0031] ③ Utilizing pose transformation relationships Map the desired instantaneous velocity of the robotic arm end-effector load in the coordinate system to the desired instantaneous velocity of the robotic arm end-effector load in the chassis coordinate system.

[0032] ④ Calculate the expected position increment of the end effector load in the chassis coordinate system [Δ] b X(k),Δ b Y(k)] T =[ b v x (k), b v y (k)] T *dT, where dT is the control cycle interval time;

[0033] ⑤ Calculate the expected end-effector load position in the chassis coordinate system during the k-th control cycle. b X(k), b Y(k)] T =[ b X(k-1)+Δ b X(k), b Y(k-1)+Δ b Y(k)] T ;

[0034] ⑥ will [ b X(k), b Y(k)] T Substitute equation 2) to obtain the desired angle of each joint of the robotic arm, and then control the joints of the robotic arm to reach the desired angle through the position controller of each joint;

[0035] ⑦ By repeating steps ② to ⑥, the robotic arm can be manipulated to move its end effector load relative to the load coordinate system. That is, the end effector load can move along the x-axis of the load coordinate system. e axis, y e It can perform translational motion along the axis and has two degrees of freedom.

[0036] The operator wants to control the moving chassis so that the end effector of the robotic arm moves with reference to the load coordinate system. The discrete calculation process is as follows:

[0037] ① The operator uses the control terminal to specify the desired instantaneous velocity of the load coordinate system for the k-th control cycle. e v x (k), e v y (k), e w z (k)] T ;

[0038] ② Regarding the desired load coordinate system linear velocity in ① [ e v x (k), e v y (k)] T Using pose transformation relationships Map the desired instantaneous velocity of the robotic arm end-effector load in the coordinate system to the desired instantaneous velocity of the robotic arm end-effector load in the chassis coordinate system.

[0039] ③ Regarding the desired load coordinate system angular velocity in ① e w z (k) Since the instantaneous relative pose between the load coordinate system and the chassis coordinate system remains unchanged, the angular velocity of the chassis coordinate system should be equal to the instantaneous angular velocity of the load coordinate system. b w z (k)= e w z (k), and the chassis coordinate system should also be based on instantaneous linear velocity. Exercise, among which b v w (k) represents the load coordinate system with the desired angular velocity. e w z (k) The instantaneous linear velocity that the chassis coordinate system should generate during rotational motion. The specific details are shown in Figure 4.

[0040] ④ Calculate the desired composite linear velocity of the chassis coordinate system as [ b v x (k), b v y (k)] T =[ b v x1 (k), b v y1 (k)] T +[ b v x2 (k), b v y2 (k)] T ;

[0041] ⑤ will [ b v x (k),b v y (k), b w z (k)] T Substitute into equation 3) to obtain the desired angular velocity of each wheel of the chassis, and then control the wheels to reach the desired angular velocity through the speed controller of each wheel of the chassis;

[0042] ⑥ By repeating steps ① to ⑤, the chassis can be manipulated to make the end effector load of the robotic arm move with reference to the load coordinate system, that is, the end effector load of the robotic arm can move along the x-axis of the load coordinate system. e axis, y e Translational motion along the axial direction and around the Z-axis e It rotates along an axis and has three degrees of freedom.

[0043] S5 specifically includes: If the operator wants to control the robotic arm so that the end effector moves with reference to the operator's coordinate system, the discrete calculation processing steps are as follows:

[0044] ①The main control computer obtains the rotation angles θ1(0) of the base rotary joint and θ2(0) of the end rotary joint of the robotic arm in the initial state, and calculates the initial position of the end load of the robotic arm using Equation 1). b X(0), b Y(0), and initialize the desired end-load position of the robotic arm in the chassis coordinate system in the (k-1)th control cycle to [ b X(k-1), b Y(k-1)] T =[ b X(0), b Y(0)] T ;

[0045] ② The operator, through the control terminal, specifies the desired instantaneous speed of the robotic arm's end-effector load in the operator coordinate system for the k-th control cycle. h v x (k), h v y (k)] T ;

[0046] ③ Utilizing pose transformation relationships Map the instantaneous velocity of the robot arm's end effector load in the desired operator coordinate system to the instantaneous velocity of the robot arm's end effector load in the desired chassis coordinate system.

[0047] ④ Calculate the expected position increment of the end effector load in the chassis coordinate system [Δ] b X(k),Δ b Y(k)] T =[b v x (k), b v y (k)] T *dT, where dT is the control cycle interval time;

[0048] ⑤ Calculate the expected end-effector load position in the chassis coordinate system during the k-th control cycle. b X(k), b Y(k)] T =[ b X(k-1)+Δ b X(k), b Y(k-1)+Δ b Y(k)] T ;

[0049] ⑥ will [ b X(k), b Y(k)] T Substitute equation 2) to obtain the desired angle of each joint of the robotic arm, and then control the joints of the robotic arm to reach the desired angle through the position controller of each joint;

[0050] ⑦ By repeating steps ② to ⑥, the robotic arm can be manipulated to move its end effector load with reference to the operator's coordinate system. That is, the end effector load can move along the x-axis of the operator's coordinate system. h axis, y h It can perform translational motion along the axis and has two degrees of freedom.

[0051] The operator wants to control the moving chassis so that the end effector of the robotic arm moves with reference to the operator's coordinate system. The discrete calculation process is as follows:

[0052] ① The operator, through the control terminal, specifies the desired instantaneous speed of the robotic arm's end effector load in the operator coordinate system for the k-th control cycle. h v x (k), h v y (k), h w z (k)] T ;

[0053] ② For the instantaneous linear velocity of the robot arm end effector load in the operator coordinate system as desired in ① [ h v x (k), h v y (k)] T Using pose transformation relationships Map the desired instantaneous linear velocity of the robotic arm's end effector load to the desired instantaneous linear velocity of the robotic arm's end effector load in the chassis coordinate system.

[0054] ③ For the instantaneous angular velocity of the robotic arm end effector load in the desired operator coordinate system in ① h w z (k) Since the instantaneous relative pose between the load coordinate system and the operator coordinate system remains unchanged, the load coordinate system should maintain an instantaneous angular velocity. e w z (k)= h w z (k) Motion, while the load coordinate system should also move at an instantaneous linear velocity. Exercise, among which e v w (k) represents the load coordinate system with the desired angular velocity. h w z (k) The instantaneous linear velocity that the load coordinate system should generate when the load rotates around the origin of the operator coordinate system.

[0055] ④ Regarding the instantaneous linear velocity of the load at the end of the robotic arm in ③ [ e v x (k), e v y (k)] T Then utilize the pose transformation relationship Map it to the instantaneous velocity of the robotic arm end effector load in the desired chassis coordinate system.

[0056] ⑤ Calculate the desired composite linear velocity of the chassis coordinate system as [ b v x (k), b v y (k)] T =[ b v x1 (k), b v y1 (k)] T +[ b v x2 (k), b v y2 (k)] T ;

[0057] ⑥ will [ b v x (k), b v y (k), b w z (k)] TSubstitute into equation 3) to obtain the desired angular velocity of each wheel of the chassis, and then control the wheels to reach the desired angular velocity through the speed controller of each wheel of the chassis;

[0058] By repeating steps ① to ⑥, the chassis can be manipulated to move the end effector load of the robotic arm with reference to the operator's coordinate system; that is, the end effector load of the robotic arm can move along the x-axis of the operator's coordinate system. h axis, y h Translational motion along the axial direction and around the Z-axis h It rotates along an axis and has three degrees of freedom.

[0059] The beneficial effects of the present invention are as follows: Compared with the prior art, the motion reference coordinate system of the robot end effector of the present invention can be changed according to the actual task requirements, and the operator can intuitively and conveniently control the mobile robot to perform end-load transfer, docking and assembly operations. Attached Figure Description

[0060] Figure 1 is a schematic diagram of the coordinate system of the omnidirectional mobile robot in this invention;

[0061] Figure 2 is a flowchart of the operation motion coordinate system selection process of the present invention;

[0062] Figure 3 is a schematic diagram of the coordinate system pose relationship in this invention;

[0063] Figure 4 is a schematic diagram of the rotational motion of the present invention with reference to the chassis coordinate system;

[0064] Figure 5 is a schematic diagram of the rotational motion of the present invention with reference to the operator coordinate system. Detailed Implementation

[0065] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0066] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0067] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0068] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0069] Taking a mobile robot consisting of an omnidirectional mobile chassis and a two-degree-of-freedom robotic arm as an example (all descriptions in this patent use this configuration as an example, but the patented method is not limited to this configuration), the relevant coordinate system of the omnidirectional mobile robot is defined according to the right-hand rule as follows: x b o b y b — Chassis coordinate system, one of the reference coordinate systems for robot operation and motion; x0o0y0— Robot arm base coordinate system; x1o1y1— Robot arm base rotation coordinate system; x2o2y2— Robot arm end effector rotation coordinate system; x e o e y e —Load coordinate system, one of the reference coordinate systems for robot operation and motion; x h o h y h —Operator coordinate system, one of the reference coordinate systems for robot operation and motion. Its top view is shown in Figure 1.

[0070] The control terminal described in this invention can be quickly installed on the end effector of a robotic arm or on an omnidirectional mobile chassis, or it can be carried by the operator after the robot system is started. The control terminal is equipped with coordinate system selection buttons, including an automatic coordinate system button (meaning the robot can automatically set the robot's end effector motion coordinate system based on the detected position of the control terminal), an operator coordinate system button (allowing the operator to set the robot's end effector motion coordinate system to the operator coordinate system), a load coordinate system button, and a chassis coordinate system button. The operator can use the coordinate system selection buttons on the control terminal to set the robot's end effector motion reference coordinate system automatically or manually, including the operator coordinate system, load coordinate system, and chassis coordinate system, according to the actual task requirements. Therefore, the robot's end effector motion coordinate system can be changed according to the actual task requirements, allowing the operator to intuitively and conveniently control the mobile robot to perform end-effector load transfer, docking, and assembly operations.

[0071] 1) Selection and processing of the coordinate system for operation motion

[0072] The process of selecting the work motion coordinate system in the robot control software is shown in Figure 2, and is as follows:

[0073] Before the robot's electrical control system is started, the control terminal should first be installed on the end of the robot's robotic arm or on the mobile chassis. When the robot's electrical control system is powered on, the main control computer will establish real-time communication with the control terminal after the system initialization is completed.

[0074] When the control terminal is installed at the end effector of the robotic arm, the operator can control the robot from near the control terminal at the end effector. The robot's electrical control system can automatically detect that the control terminal is at the end effector via a digital I / O interface. At this time, the robot control software automatically updates the position of the control terminal to the end effector. When the operator removes the control terminal from the end effector and carries the robot by hand according to the task requirements, the robot's electrical control system can automatically detect that the I / O signal connected to the joystick is disconnected via the aforementioned digital I / O interface. The robot control software automatically updates the position of the control terminal to the operator. At the same time, the joystick's processing unit also automatically detects the disconnection of the signal from the robot's electrical control system via the digital I / O interface, and then initializes the measurement information of the IMU unit inside the joystick. Afterwards, the position and attitude increment ΔT generated when the operator carries the control terminal in space will be recorded. IMU The velocity information measured by the IMU unit can be integrated to obtain the position and attitude increment information ΔT periodically sent by the control terminal. IMU The pose relationship between the control terminal coordinate system (operator coordinate system) and the robot arm load coordinate system is calculated cumulatively. It can also be combined with the pose relationship between the robotic arm's load coordinate system and the mobile chassis coordinate system. (The DH parameters can be established from the load, robotic arm, and chassis, and obtained through forward kinematics.) The pose relationship between the control terminal coordinate system (operator coordinate system) and the moving chassis coordinate system is calculated.

[0075] When the control terminal is mounted on the mobile chassis, the operator can operate the robot from near the control terminal on the mobile chassis. The robot's electrical control system can automatically detect that the control terminal is on the mobile chassis via another digital I / O interface. At this time, the robot control software automatically updates the position of the control terminal to the mobile chassis. When the operator removes the control terminal from the mobile chassis and carries the robot by hand according to the task requirements, the robot's electrical control system can automatically detect that the I / O signal connected to the joystick is disconnected via the aforementioned digital I / O interface. The robot control software automatically updates the position of the control terminal to the operator. At the same time, the joystick's processing unit also automatically detects the disconnection of the signal from the robot's electrical control system via the digital I / O interface, and then initializes the measurement information of the IMU unit inside the joystick. Afterwards, the position and attitude increment ΔT generated when the operator carries the control terminal in space will be recorded. IMUThe velocity information measured by the IMU unit can be integrated to obtain the position and attitude increment information ΔT periodically sent by the control terminal. IMU The pose relationship between the control terminal coordinate system (operator coordinate system) and the moving chassis coordinate system is calculated cumulatively. It can also be combined with the pose relationship between the robotic arm's load coordinate system and the mobile chassis coordinate system. (The kinematic model can be established from the load, robotic arm, and chassis-related DH parameters.) The pose relationship between the operator coordinate system and the end-effector load coordinate system is calculated.

[0076] The pose relationship between the load coordinate system, chassis coordinate system and operator coordinate system is shown in Figure 3.

[0077] 2) Chassis coordinate system control processing

[0078] Chassis coordinate system control refers to the operator's ability to control the robot's moving chassis and robotic arm so that the robotic arm's end effector performs operational movements with reference to the chassis coordinate system.

[0079] Taking the omnidirectional mobile robot shown in Figure 1 as an example, we establish a system based on x b o b y b Equations of motion for the end effector load and chassis, with the chassis coordinate system as the motion reference:

[0080]

[0081] Equations 1) and 2) are the forward and inverse motion equations for the end effector load of the robotic arm, respectively. b X, b Y represents the position of the end effector load of the robotic arm in the chassis coordinate system, [θ1, θ2]. T Equation 3) represents the rotation angles of the base rotary joint and end rotary joint of the robotic arm; Equation 4) is the inverse motion equation of the chassis, where... b V x , b V y , b W z Let [w1, w2, w3, w4] be the instantaneous velocity in the robot's chassis coordinate system. T The rotational speed of the four wheels on the robot's chassis.

[0082] The operator wants to control the robotic arm so that the end effector moves with reference to the chassis coordinate system. The discrete calculation processing steps are as follows:

[0083] ①The main control computer obtains the rotation angles θ1(0) of the base rotary joint and θ2(0) of the end rotary joint of the robotic arm in the initial state, and calculates the initial position of the end load of the robotic arm using Equation 1). b X(0), b Y(0), and initialize the desired end-load position of the robotic arm in the chassis coordinate system in the (k-1)th control cycle to [ b X(k-1), b Y(k-1)] T =[ b X(0), b Y(0)] T ;

[0084] ② The operator uses the control terminal to specify the desired instantaneous speed of the robotic arm's end effector load in the chassis coordinate system for the kth control cycle. b v x (k), b v y (k)] T And calculate the expected position increment [Δ] of the load at the end of the robotic arm. b X(k),Δ b Y(k)] T =[ b v x (k), b v y (k)] T *dT, where dT is the control cycle interval time;

[0085] ③ Calculate the desired end-effector load position in the chassis coordinate system during the k-th control cycle. b X(k), b Y(k)] T =[ b X(k-1)+Δ b X(k), b Y(k-1)+Δ b Y(k)] T ;

[0086] ④ will [ b X(k), b Y(k)] T Substitute equation 2) to obtain the desired angle of each joint of the robotic arm, and then control the joints of the robotic arm to reach the desired angle through the position controller of each joint;

[0087] ⑤ By repeating steps ② to ④, the chassis can be manipulated to move the end effector load of the robotic arm with reference to the chassis coordinate system. That is, the end effector load of the robotic arm can move along the x-axis of the chassis coordinate system. b axis, y bIt can perform translational motion along the axis and has two degrees of freedom.

[0088] The operator wants to control the moving chassis so that the end effector of the robotic arm moves with reference to the chassis coordinate system. The discrete calculation process is as follows:

[0089] ① The operator uses the control terminal to specify the desired instantaneous speed [v] in the chassis coordinate system for the k-th control cycle. x (k),v y (k),w z (k)] T ;

[0090] ② [v x (k),v y (k),w z (k)] T Substitute into equation 3) to obtain the desired angular velocity of each wheel of the chassis, and then control the wheels to reach the desired angular velocity through the speed controller of each wheel of the chassis;

[0091] ③ By repeating steps ① to ②, the chassis can move with reference to the chassis coordinate system, that is, the chassis can move along the x-axis of the chassis coordinate system. b axis, y b Translational motion along the axial direction and around the Z-axis b It rotates along an axis and has three degrees of freedom.

[0092] 3) Load coordinate system control processing

[0093] Load coordinate system control refers to the operator's ability to control the robot's moving chassis or robotic arm so that the load end effector moves with reference to the load coordinate system.

[0094] The operator wants to control the moving chassis so that the end effector of the robotic arm moves with reference to the load coordinate system. The discrete calculation processing steps are as follows:

[0095] ①The main control computer obtains the rotation angles θ1(0) of the base rotary joint and θ2(0) of the end rotary joint of the robotic arm in the initial state, and calculates the initial position of the end load of the robotic arm using Equation 1). b X(0), b Y(0), and initialize the desired end-load position of the robotic arm in the chassis coordinate system in the (k-1)th control cycle to [ b X(k-1), b Y(k-1)] T =[ b X(0), b Y(0)] T ;

[0096] ② The operator uses the control terminal to specify the desired instantaneous velocity of the robotic arm's end effector load coordinate system for the kth control cycle. e v x (k), e v y (k)] T ;

[0097] ③ Utilizing pose transformation relationships Map the desired instantaneous velocity of the robotic arm end-effector load in the coordinate system to the desired instantaneous velocity of the robotic arm end-effector load in the chassis coordinate system.

[0098] ④ Calculate the expected position increment of the end effector load in the chassis coordinate system [Δ] b X(k),Δ b Y(k)] T =[ b v x (k), b v y (k)] T *dT, where dT is the control cycle interval time;

[0099] ⑤ Calculate the expected end-effector load position in the chassis coordinate system during the k-th control cycle. b X(k), b Y(k)] T =[ b X(k-1)+Δ b X(k), b Y(k-1)+Δ b Y(k)] T ;

[0100] ⑥ will [ b X(k), b Y(k)] T Substitute equation 2) to obtain the desired angle of each joint of the robotic arm, and then control the joints of the robotic arm to reach the desired angle through the position controller of each joint;

[0101] ⑦ By repeating steps ② to ⑥, the robotic arm can be manipulated to move its end effector load relative to the load coordinate system. That is, the end effector load can move along the x-axis of the load coordinate system. e axis, y e It can perform translational motion along the axis and has two degrees of freedom.

[0102] The operator wants to control the moving chassis so that the end effector of the robotic arm moves with reference to the load coordinate system. The discrete calculation process is as follows:

[0103] ① The operator uses the control terminal to specify the desired instantaneous velocity of the load coordinate system for the k-th control cycle. e v x (k), e v y (k), e w z (k)] T ;

[0104] ② Regarding the desired load coordinate system linear velocity in ① [ e v x (k), e v y (k)] T Using pose transformation relationships Map the desired instantaneous velocity of the robotic arm end-effector load in the coordinate system to the desired instantaneous velocity of the robotic arm end-effector load in the chassis coordinate system.

[0105] ③ Regarding the desired load coordinate system angular velocity in ① e w z (k) Since the instantaneous relative pose between the load coordinate system and the chassis coordinate system remains unchanged, the angular velocity of the chassis coordinate system should be equal to the instantaneous angular velocity of the load coordinate system. b w z (k)= e w z (k), and the chassis coordinate system should also be based on instantaneous linear velocity. Exercise, among which b v w (k) represents the load coordinate system with the desired angular velocity. e w z (k) The instantaneous linear velocity that the chassis coordinate system should generate during rotational motion. The specific details are shown in Figure 4.

[0106] ④ Calculate the desired composite linear velocity of the chassis coordinate system as [ b v x (k), b v y (k)] T =[ b v x1 (k), b v y1 (k)] T +[ b v x2 (k), b v y2 (k)] T ;

[0107] ⑤ will [ b v x (k),b v y (k), b w z (k)] T Substitute into equation 3) to obtain the desired angular velocity of each wheel of the chassis, and then control the wheels to reach the desired angular velocity through the speed controller of each wheel of the chassis;

[0108] ⑥ By repeating steps ① to ⑤, the chassis can be manipulated to make the end effector load of the robotic arm move with reference to the load coordinate system, that is, the end effector load of the robotic arm can move along the x-axis of the load coordinate system. e axis, y e Translational motion along the axial direction and around the Z-axis e It rotates along an axis and has three degrees of freedom.

[0109] 4) Operator coordinate system control processing

[0110] Operator coordinate system control refers to the operator's ability to control the robot's moving chassis and robotic arm so that the end effector of the robotic arm moves with reference to the operator coordinate system.

[0111] If the operator wants to control the robotic arm so that the end effector moves with reference to the operator's coordinate system, the discrete computation processing steps are as follows:

[0112] ①The main control computer obtains the rotation angles θ1(0) of the base rotary joint and θ2(0) of the end rotary joint of the robotic arm in the initial state, and calculates the initial position of the end load of the robotic arm using Equation 1). b X(0), b Y(0), and initialize the desired end-load position of the robotic arm in the chassis coordinate system in the (k-1)th control cycle to [ b X(k-1), b Y(k-1)] T =[ b X(0), b Y(0)] T ;

[0113] ② The operator, through the control terminal, specifies the desired instantaneous speed of the robotic arm's end-effector load in the operator coordinate system for the k-th control cycle. h v x (k), h v y (k)] T ;

[0114] ③ Utilizing pose transformation relationships Map the instantaneous velocity of the robot arm's end effector load in the desired operator coordinate system to the instantaneous velocity of the robot arm's end effector load in the desired chassis coordinate system.

[0115] ④ Calculate the expected position increment of the end effector load in the chassis coordinate system [Δ] b X(k),Δ b Y(k)] T =[ b v x (k), b v y (k)] T *dT, where dT is the control cycle interval time;

[0116] ⑤ Calculate the expected end-effector load position in the chassis coordinate system during the k-th control cycle. b X(k), b Y(k)] T =[ b X(k-1)+Δ b X(k), b Y(k-1)+Δ b Y(k)] T ;

[0117] ⑥ will [ b X(k), b Y(k)] T Substitute equation 2) to obtain the desired angle of each joint of the robotic arm, and then control the joints of the robotic arm to reach the desired angle through the position controller of each joint;

[0118] ⑦ By repeating steps ② to ⑥, the robotic arm can be manipulated to move its end effector load with reference to the operator's coordinate system. That is, the end effector load can move along the x-axis of the operator's coordinate system. h axis, y h It can perform translational motion along the axis and has two degrees of freedom.

[0119] The operator wants to control the moving chassis so that the end effector of the robotic arm moves with reference to the operator's coordinate system. The discrete calculation process is as follows:

[0120] ① The operator, through the control terminal, specifies the desired instantaneous speed of the robotic arm's end effector load in the operator coordinate system for the k-th control cycle. h v x (k), h v y (k), h w z (k)] T ;

[0121] ② For the instantaneous linear velocity of the robot arm end effector load in the operator coordinate system as desired in ① [ h v x (k), hv y (k)] T Using pose transformation relationships Map the desired instantaneous linear velocity of the robotic arm's end effector load to the desired instantaneous linear velocity of the robotic arm's end effector load in the chassis coordinate system.

[0122] ③ For the instantaneous angular velocity of the robotic arm end effector load in the desired operator coordinate system in ① h w z (k) Since the instantaneous relative pose between the load coordinate system and the operator coordinate system remains unchanged, the load coordinate system should maintain an instantaneous angular velocity. e w z (k)= h w z (k) Motion, while the load coordinate system should also move at an instantaneous linear velocity. Exercise, among which e v w (k) represents the load coordinate system with the desired angular velocity. h w z (k) The instantaneous linear velocity that the load coordinate system should generate when the load rotates around the origin of the operator coordinate system. See Figure 5 for details.

[0123] ④ Regarding the instantaneous linear velocity of the load at the end of the robotic arm in ③ [ e v x (k), e v y (k)] T Then utilize the pose transformation relationship Map it to the instantaneous velocity of the robotic arm end effector load in the desired chassis coordinate system.

[0124] ⑤ Calculate the desired composite linear velocity of the chassis coordinate system as [ b v x (k), b v y (k)] T =[ b v x1 (k), b v y1 (k)] T +[ b v x2 (k), b v y2 (k)] T ;

[0125] ⑥ will [ b v x (k), b v y(k), b w z (k)] T Substitute into equation 3) to obtain the desired angular velocity of each wheel of the chassis, and then control the wheels to reach the desired angular velocity through the speed controller of each wheel of the chassis;

[0126] ⑦ By repeating steps ① to ⑥, the chassis can be manipulated to move the end effector load of the robotic arm with reference to the operator's coordinate system. That is, the end effector load of the robotic arm can move along the x-axis of the operator's coordinate system. h axis, y h Translational motion along the axial direction and around the Z-axis h It rotates along an axis and has three degrees of freedom.

[0127] In summary, by using the above processing methods, the motion reference coordinate system of the robot's end effector can be changed according to the actual task requirements, allowing the operator to intuitively and conveniently control the mobile robot to perform tasks such as end-effector load transfer, docking, and assembly.

[0128] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for controlling a mobile robot, comprising an omnidirectional mobile chassis, a multi-degree-of-freedom robotic arm mounted on the omnidirectional mobile chassis, a control terminal for controlling the movement of the robotic arm, and an electrical control system communicatively connected to the control terminal, characterized in that: The method includes: S1: Defining the omnidirectional mobile robot motion coordinate system according to the right-hand rule; including the load coordinate system, chassis coordinate system, and operator coordinate system; S2: Determining the current position of the control terminal and selecting the robot's working motion coordinate system based on the position; S3: When the control terminal is installed at the end of the robotic arm, the main control computer of the robot electrical control system automatically detects that the control terminal is at the end of the robotic arm through a digital I / O interface, and the operator manipulates the robot's mobile chassis or robotic arm to make the load end move with reference to the load coordinate system; S4: When the control terminal is installed on the omnidirectional mobile chassis, the robot electrical control system automatically detects that the control terminal is on the omnidirectional mobile chassis through a digital I / O interface, and the operator manipulates the robot's mobile chassis and robotic arm to make the load at the end of the robotic arm move with reference to the operator coordinate system. S5: When the control terminal is handheld by the operator, the robot's electrical control system automatically detects that the control terminal has detached from the robotic arm's end effector or the omnidirectional moving chassis via a digital I / O interface. The operator desires to control the moving chassis so that the robotic arm's end effector load moves with reference to the operator's coordinate system; establishing a coordinate system based on x... b o b y b Equations of motion for the end effector load and chassis, with the chassis coordinate system as the motion reference: Equations 1) and 2) are the forward and inverse motion equations for the load at the end effector of the robotic arm, respectively. This represents the position of the end effector load of the robotic arm in the chassis coordinate system. Equation 3) represents the rotation angles of the base rotary joint and end rotary joint of the robotic arm; Equation 4) is the inverse motion equation of the chassis, where... Let be the instantaneous velocity in the robot's chassis coordinate system. The rotational speed of the four wheels on the robot chassis; S5 specifically includes: if the operator wants to control the robotic arm so that the end effector load moves with reference to the operator's coordinate system, the discrete calculation processing steps are as follows: ① The main control computer obtains the rotational joint of the base of the robotic arm in the initial state. Rotation angle of the end joint The initial position of the load at the end effector of the robotic arm is calculated using Equation 1). The desired end-effector load position in the chassis coordinate system during the (k-1)th control cycle is initialized to... ② The operator, through the control terminal, provides the desired instantaneous speed of the robotic arm end-effector load in the operator coordinate system for the k-th control cycle. ③ Utilizing pose transformation relationships The instantaneous velocity of the robot arm's end-effector load in the desired operator coordinate system is mapped to the instantaneous velocity of the robot arm's end-effector load in the desired chassis coordinate system. ④ Calculate the desired position increment of the end effector load of the robotic arm in the chassis coordinate system. dT is the control cycle interval; ⑤ Calculate the expected load position of the robotic arm end effector in the chassis coordinate system during the k-th control cycle. ⑥ will Substitute equation 2) to obtain the desired angle of each joint of the robotic arm, and further control the robotic arm joints to reach the desired angle through the position controller of each joint; ⑦ Repeat steps ② to ⑥ to realize the manipulation of the robotic arm so that the end-effector load moves with reference to the operator coordinate system, that is, the end-effector load moves along the x-axis of the operator coordinate system. h axis, y h The robot arm performs translational motion along its axis, possessing two degrees of freedom. The operator desires to control the moving chassis so that the end-effector load moves relative to the operator's coordinate system. The discrete calculation process is as follows: ① The operator, through the control terminal, provides the desired instantaneous velocity of the end-effector load in the operator's coordinate system during the k-th control cycle. ② For the instantaneous linear velocity of the robotic arm end effector load in the desired operator coordinate system in ① Using pose transformation relationships The desired instantaneous linear velocity of the robotic arm end-effector load is mapped to the desired instantaneous linear velocity of the robotic arm end-effector load in the chassis coordinate system. ③ For the instantaneous angular velocity of the robotic arm end effector load in the desired operator coordinate system in ① Since the instantaneous relative pose between the load coordinate system and the operator coordinate system remains unchanged, the load coordinate system should maintain an instantaneous angular velocity. The motion, and the load coordinate system should also be in motion with instantaneous linear velocity. Exercise, among which For the load coordinate system at the desired angular velocity The instantaneous linear velocity that the load coordinate system should generate when rotating around the origin of the operator coordinate system. ④ Regarding the instantaneous linear velocity of the end effector load in ③ Then utilize the pose transformation relationship Map it to the instantaneous velocity of the robotic arm end effector load in the desired chassis coordinate system. ⑤ Calculate the desired composite linear velocity of the chassis coordinate system. ⑥ will Substitute into equation 3) to obtain the desired angular velocity of each wheel on the chassis, and then control the wheels to reach the desired angular velocity through the speed controller of each wheel on the chassis; By repeating steps ① to ⑥, the control chassis is made to move the end effector load of the robotic arm with reference to the operator's coordinate system, that is, the end effector load moves along the x-axis of the operator's coordinate system. h axis, y h Translational motion along the axial direction and around the Z-axis h It rotates along an axis and has three degrees of freedom.

2. The mobile operation robot control method according to claim 1, characterized in that: When the robot's working motion coordinate system is selected in S2, the control terminal is first installed on the end of the robot's mechanical arm or on the mobile chassis before the robot's electrical control system is started. When the robot's electrical control system is powered on, the main control computer of the electrical control system establishes real-time communication with the control terminal after the system initialization is completed. S2 specifically includes: the main control computer detecting the status signals of the digital I / O interface and the status information of the control terminal in real time; If the I / O interface signal connected when the control terminal is installed at the end of the robotic arm is triggered, the position of the control terminal at that time is determined to be at the end of the robotic arm. When the operator removes the control terminal from the end of the robotic arm and holds it by hand to control the robot according to the work task, the robot's electrical control system automatically detects the disconnection of the I / O signal connected to the joystick through the aforementioned digital I / O interface. The robot control software automatically updates the position of the control terminal to the operator. At the same time, the joystick's processing unit also automatically detects the disconnection of the signal from the robot's electrical control system through the digital I / O interface, and then initializes the measurement information of the IMU unit inside the joystick. Subsequently, the position and attitude increment ΔT generated when the operator holds the control terminal and moves in space is determined. IMU It is obtained by integrating the velocity information measured by the IMU unit, and the robot control software uses the position and attitude increment information ΔT periodically sent by the control terminal. IMU The pose relationship between the control terminal coordinate system (operator coordinate system) and the robotic arm load coordinate system is calculated cumulatively. It also incorporates the pose relationship between the robotic arm's load coordinate system and the mobile chassis coordinate system. The pose relationship between the control terminal coordinate system (operator coordinate system) and the mobile chassis coordinate system is calculated. If the I / O interface signal connected to the control terminal during installation on the mobile chassis is triggered, the current position of the control terminal is determined to be the mobile chassis. When the operator removes the control terminal from the mobile chassis and manually carries the robot according to the work task, the robot's electrical control system automatically detects the disconnection of the I / O signal connected to the joystick through the aforementioned digital I / O interface. The robot control software automatically updates the position of the control terminal to the operator's position. At the same time, the joystick's processing unit also automatically detects the disconnection of the signal from the robot's electrical control system through the digital I / O interface, and then initializes the measurement information of the IMU unit inside the joystick. Subsequently, the position and attitude increment ΔT generated when the operator moves in space while holding the control terminal is determined. IMU It is obtained by integrating the velocity information measured by the IMU unit, and the robot control software uses the position and attitude increment information ΔT periodically sent by the control terminal. IMU The pose relationship between the control terminal coordinate system (operator coordinate system) and the mobile chassis coordinate system is calculated cumulatively. It also incorporates the pose relationship between the robotic arm's load coordinate system and the mobile chassis coordinate system. The pose relationship between the operator coordinate system (the coordinate system of the control terminal) and the end-effector load coordinate system of the robotic arm is calculated. 。 3. The mobile operation robot control method according to claim 1, characterized in that: S4 specifically includes: If the operator expects to control the robotic arm so that the end-effector load moves with reference to the chassis coordinate system, the discrete calculation processing steps are as follows: ① The main control computer obtains the initial state of the robotic arm base rotation joint. Rotation angle of the end joint The initial position of the load at the end effector of the robotic arm is calculated using Equation 1). The desired end-effector load position in the chassis coordinate system during the (k-1)th control cycle is initialized to... ② The operator, through the control terminal, provides the desired instantaneous speed of the robotic arm's end-effector load in the chassis coordinate system for the kth control cycle. And calculate the expected position increment of the load at the end of the robotic arm. dT is the control cycle interval; ③ Calculate the expected load position of the robotic arm end effector in the chassis coordinate system during the k-th control cycle. ④ will Substitute equation 2) to obtain the desired angle of each joint of the robotic arm, and further control the robotic arm joints to reach the desired angle through the position controller of each joint; repeat steps ② to ④ to realize the control of the chassis so that the end-effector load of the robotic arm moves with reference to the chassis coordinate system, that is, the end-effector load moves along the x-axis of the chassis coordinate system. b axis, y b The robot arm performs translational motion along its axis, possessing two degrees of freedom. The operator aims to control the moving chassis so that the end effector load moves relative to the chassis coordinate system. The discrete computation process is as follows: ① The operator, through the control terminal, provides the desired instantaneous velocity of the chassis coordinate system for the k-th control cycle. ; ② will Substitute into equation 3) to obtain the desired angular velocity of each wheel on the chassis, and then control the wheels to reach the desired angular velocity through the speed controller of each wheel on the chassis; ③ Repeat steps ① to ② to achieve the motion of the chassis with the chassis coordinate system as the reference, that is, the chassis moves along the x-axis of the chassis coordinate system. b axis, y b Translational motion along the axial direction and around the Z-axis b It rotates along an axis and has three degrees of freedom.

4. The mobile operation robot control method according to claim 1, characterized in that: S3 specifically includes: If the operator expects to control the moving chassis so that the end effector of the robotic arm moves with reference to the load coordinate system, the discrete calculation processing steps are as follows: ① The main control computer obtains the initial state of the base rotation joint of the robotic arm. Rotation angle of the end joint The initial position of the load at the end effector of the robotic arm is calculated using Equation 1). The desired end-effector load position in the chassis coordinate system during the (k-1)th control cycle is initialized to... ② The operator, through the control terminal, provides the desired instantaneous velocity of the robotic arm's end effector load coordinate system for the k-th control cycle. ③ Utilizing pose transformation relationships The desired instantaneous velocity of the robotic arm end-effector load in the coordinate system is mapped to the desired instantaneous velocity of the robotic arm end-effector load in the chassis coordinate system. ④ Calculate the desired position increment of the end effector load of the robotic arm in the chassis coordinate system. dT is the control cycle interval; ⑤ Calculate the expected load position of the robotic arm end effector in the chassis coordinate system during the k-th control cycle. ⑥ will Substitute equation 2) to obtain the desired angle of each joint of the robotic arm, and further control the robotic arm joints to reach the desired angle through the position controller of each joint; ⑦ Repeat steps ② to ⑥ to realize the manipulation of the robotic arm so that the end-effector load moves with reference to the load coordinate system, that is, the end-effector load moves along the x-axis of the load coordinate system. e axis, y e The robot arm performs translational motion along its axis, possessing two degrees of freedom. The operator aims to control the moving chassis so that the end effector load moves relative to the load coordinate system. The discrete calculation process is as follows: ① The operator, through the control terminal, provides the desired instantaneous velocity of the load coordinate system for the k-th control cycle. ② Regarding the linear velocity of the desired load coordinate system in ① Using pose transformation relationships The desired instantaneous velocity of the robotic arm end-effector load in the coordinate system is mapped to the desired instantaneous velocity of the robotic arm end-effector load in the chassis coordinate system. ③ Regarding the desired load coordinate system angular velocity in ① Since the instantaneous relative pose between the load coordinate system and the chassis coordinate system remains unchanged, the angular velocity of the chassis coordinate system should be equal to the instantaneous angular velocity of the load coordinate system. At the same time, the chassis coordinate system should also be based on instantaneous linear velocity. Exercise, among which For the load coordinate system at the desired angular velocity The instantaneous linear velocity that the chassis coordinate system should generate during rotational motion. ④ Calculate the desired composite linear velocity of the chassis coordinate system. ⑤ will Substitute into equation 3) to obtain the desired angular velocity of each wheel on the chassis, and further control the wheels to reach the desired angular velocity through the speed controller of each wheel on the chassis; ⑥ Repeat steps 1 to 5 to achieve the control of the chassis so that the end-effector load moves with reference to the load coordinate system, that is, the end-effector load moves along the x-axis of the load coordinate system. e axis, y e Translational motion along the axial direction and around the Z-axis e It rotates along an axis and has three degrees of freedom.

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