Mobile Manipulator Integrated Control for Chassis-Arm Coordination
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Solution Overview
Problem
Existing mobile manipulation robots lack integrated control between chassis and mechanical arm movements, leading to poor coordination, low efficiency, and an inability to meet the requirements of automatic production lines.
Innovation Solution
A control system for mobile manipulation robots incorporating a walking control module, integrated control module, trajectory planning module, trajectory decomposition calculation module, inverse kinematics model, and decoupling calculation module, along with error calculation and artificial neural network algorithms, to coordinate and synchronize robot body and mechanical arm movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If separate control is used for chassis and mechanical arm, then control implementation is simple and product development is rapid, but synchronized and coordinated integrated control is not implemented leading to poor coordination and low efficiency
Solution Approach 1:
The patent merges the separate chassis control and mechanical arm control into a unified integrated control system. The controller receives task instructions and performs trajectory planning that simultaneously coordinates both the mobile chassis movement and mechanical arm operations, enabling synchronized execution of composite actions rather than sequential independent control.
Solution Approach 2:
The control system dynamically adjusts the coordination between chassis movement and mechanical arm operations based on real-time task requirements. The trajectory planning module generates dynamic control instructions that adapt the timing and sequencing of movement and manipulation actions to optimize operation efficiency while maintaining control simplicity.
2Device complexity
If separate control is used for chassis and mechanical arm, then control structure is simple, but motion coordination and operation efficiency are poor
Solution Approach 1:
The control structure integrates chassis and mechanical arm control functions into a single coordinated system. The controller performs unified trajectory planning that simultaneously determines the motion paths and timing for both the mobile chassis and mechanical arm, ensuring reliable motion coordination through integrated decision-making rather than independent separate controls.
3Ease of manufacture
If sequential control is used (chassis first then mechanical arm), then control implementation is simple, but takt requirement of automatic production line cannot be met
Solution Approach 1:
The integrated control system enables continuous coordinated execution of chassis movement and mechanical arm operations. Rather than completing chassis movement entirely before initiating arm operations, the system performs trajectory planning that overlaps these actions in time, maintaining continuous productive activity and meeting production line takt requirements while keeping control implementation straightforward.
Data Source
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AI summary
A control system and method for a mobile manipulation robot. The control system for a mobile manipulation robot comprises: a mobile manipulation robot controller, a locomotion control module, an integrated control module, a trajectory planning module, a trajectory decomposing and calculating module, an inverse kinematics model, and a decoupling and calculating module, wherein the locomotion control module is configured to control movement of a mobile manipulation robot body in a locomotion control mode; the integrated control module is configured to coordinate and control the movement of the mobile manipulation robot body and motion of a manipulator in an integrated control mode; the trajectory planning module is configured to receive a task instruction from the mobile manipulation robot controller and plan a trajectory; the trajectory decomposing and calculating module is configured to decompose the planned trajectory outputted by the trajectory planning module; the inverse kinematics model is configured to solve modeling descriptions of the locomotion control module and the integrated control module; and the decoupling and calculating module is configured to decouple an amount of output of the modeling description of the integrated control module solved by the inverse kinematics model into an amount of motion.