移动机械臂的协调运动方案设计及验证

Design and verification of coordinated motion scheme for mobile manipulators

移动机械臂是由一个移动平台和一个固定在其上面的机械臂组成。为了能实现对移动机械臂的协调控制,移动平台和机械臂不得不同时完成任务。通过对移动机械臂的运动学建模分析,提出了一个基于最小速度范数的协调运动方案。该方案不仅可以实现对移动平台的运动控制,而且可以对机械臂同时进行协调控制。此外,协调运动方案可以等效的转换为一个标准二次规划问题,进而可以开发出一个有效的数值算法去求解。最后,移动机械臂去执行一个圆形路径,对应的仿真结果验证了协调运动方案的有效性。

A mobile manipulator is composed of a mobile platform and a stationary manipulator fixed to the platform. In order to achieve the coordinated motion control of mobile manipulators,the mobile platform and the manipulator have to fulfill tasks simultaneously. According to the analysis of kinematics for the mobile manipulator,a coordinated motion scheme based on the minimum velocity norm is proposed and investigated. Such a scheme can not only control the motion of the mobile platform,but also coordinate the manipulator to complete tasks simultaneously. Besides,the coordinated motion scheme can be converted equivalently to a standard quadratic program,which can be solved by an effective numerical algorithm. Finally,the mobile manipulator is applied to perform a circular path and the corresponding simulative results validate the effectiveness of the coordinated motion scheme.