Mobile Robot Arm Control With Unified Coordinate Coupling
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Solution Overview
Problem
Existing mobile manipulation robots face inefficiencies due to separate control of the mobile chassis and robotic arm, leading to repeated pose adjustments and failure to meet high production takt demands in industrial scenarios, particularly in complex operations requiring high precision and flexibility.
Innovation Solution
An integrated control method for mobile composite robots, utilizing a unified world coordinate system to describe the mobile body, robotic arm, and end effector, with coupling and decoupling calculations to generate synchronized control instructions for the mobile body and robotic arm, incorporating behavioral data, obstacle avoidance, compliance control, and singularity avoidance, enhanced by deep artificial intelligence algorithms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If separate control method is adopted for mobile chassis and robotic arm, then control implementation complexity is reduced, but operational efficiency and action fluency deteriorate
Solution Approach 1:
The patent merges the control of mobile chassis and robotic arm into a unified integrated control system. The control device receives task data and simultaneously plans trajectories for both the mobile body and robotic arm, coordinating their movements as a single integrated system rather than independent subsystems, thereby improving operational efficiency while maintaining manageable complexity through unified planning.
Solution Approach 2:
The patent implements preliminary trajectory planning for both mobile body and robotic arm before execution. The control device calculates optimal trajectories in advance based on task requirements, allowing the robot to execute coordinated movements smoothly without repeated pose adjustments, thus improving action fluency and operational efficiency.
2Ease of operation
If separate control method is adopted for mobile chassis and robotic arm, then control simplicity is maintained, but action fluency and operational smoothness deteriorate
Solution Approach 1:
The patent combines the control of mobile chassis and robotic arm into a unified integrated control system. The control device receives task data and simultaneously plans trajectories for both the mobile body and robotic arm, coordinating their movements as a single integrated system rather than independent subsystems, thereby improving operational efficiency while maintaining manageable complexity through unified planning.
Solution Approach 2:
The patent implements real-time feedback mechanisms where the control device continuously monitors the actual positions and states of both mobile body and robotic arm, comparing them with planned trajectories and making dynamic adjustments. This feedback loop ensures smooth coordinated movement and maintains action fluency while keeping the control system manageable through automated real-time coordination.
3Measurement precision
If mobile chassis moves to destination and stops before robotic arm acts, then positioning accuracy is ensured, but operational time and productivity deteriorate
Solution Approach 1:
The patent implements preliminary trajectory planning for both mobile body and robotic arm before execution. The control device calculates optimal trajectories in advance based on task requirements, allowing the robot to execute coordinated movements smoothly without repeated pose adjustments, thus improving action fluency and operational efficiency.
Solution Approach 2:
The patent enables continuous coordinated movement of mobile body and robotic arm without idle waiting periods. The integrated control system ensures that both subsystems operate continuously in coordination, eliminating the sequential stop-wait pattern of traditional separate control, thereby reducing operational time while maintaining positioning accuracy through unified trajectory planning.
4Speed
If robotic arm performs operation without coordinated mobile body movement, then arm operation speed is maintained, but operational precision and adaptability deteriorate
Solution Approach 1:
The patent merges the control of mobile chassis and robotic arm into a unified integrated control system. The control device receives task data and simultaneously plans trajectories for both the mobile body and robotic arm, coordinating their movements as a single integrated system rather than independent subsystems, thereby improving operational efficiency while maintaining manageable complexity through unified planning.
Solution Approach 2:
The patent implements dynamic trajectory adjustment where the control device continuously adapts the movements of mobile body and robotic arm based on real-time conditions and task requirements. This dynamic coordination allows the system to maintain both speed and precision by optimizing the timing and positioning of both subsystems in response to changing operational conditions.
Data Source
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AI summary
An integrated control method and control apparatus for a mobile composite robot, and a computer-readable storage medium and a mobile composite robot. The integrated control method for a mobile composite robot is characterized in that the mobile composite robot is provided with a moving body (1), a robotic arm (2) and an end effector (3). The integrated control method comprises the following steps: S1, describing a moving body (1), a robotic arm (2), an end effector (3) and an operation object in a unified world coordinate system, constructing a description equation for dynamic characteristics of a mobile composite robot on the basis of the unified world coordinate system, so as to express the motion state and posture of the mobile composite robot, and on the basis of trajectory planning data and the current state data of the robot, describing and expressing a robot calculation model; S2, performing coupling calculation on the basis of the robot calculation model which is obtained in step S1, so as to generate an action instruction for the end effector (3) of the mobile composite robot; and S3, performing decoupling calculation on the basis of the action instruction for the end effector (3) that is obtained in step S2, so as to decouple and decompose the action instruction into a speed control instruction for the moving body (1) of the robot and torque control instructions for joints of the robotic arm (2), and also using dynamic real-time data of the moving body (1) and dynamic real-time data of the robotic arm (2) as feedback amounts and inputting same into the current state data of the robot in step S1.