移动机械手的整体运动学建模与控制  

Integrated Kinematics Modeling and Control of Mobile Manipulator

作　　者：蒋文萍[1] 樊建文[2] 

机构地区：[1]上海应用技术学院电气与电子工程学院,上海200235 [2]平顶山工业职业技术学院,平顶山467001

出　　处：《上海应用技术学院学报（自然科学版）》2010年第4期305-310,319,共7页Journal of Shanghai Institute of Technology: Natural Science

摘　　要：移动机械手由一个机械手固定安装在一个移动平台上构成。移动平台和机械手的不同物理特性使移动机械手的建模和协调控制成为机器人领域的难点之一。本文对移动机械手进行了运动学分析,给出了其整体运动学建模方法;针对移动机械手的非线性和强耦合特点,设计了PD反馈控制器;仿真实验证明该控制器具有良好的控制效果。Mobile manipulator is composed of a manipulator fixed on a mobile platform.Because of the coordination and different dynamic characteristics between the mobile platform and the manipulator,the modeling method and cooperative control of the integrated system have caught the interests of the scholars in the fields of robot.Based on kinematics analyses,an integrated kinematics model is established;Aiming at its nonlinearity and close coupling,a uniform PD feedback controller is proposed.The results from the simulation provide supports for the efficiency of this method.

关 键 词：移动机械手 整体运动学模型 PD控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]