Design of a mobile manipulator control system

摘要

With the continuous development of technology and the continuous strengthening of safety performance requirements, mobile manipulators are used in more and more applications. For this reason mobile robotic arms need to improve openness and scalability to meet different production requirements, and the robotic arm control system is an important platform to achieve these requirements. In this paper, a mobile robotic arm control system is designed and developed to meet the realistic requirements of the Ackermann structured trolley equipped with a six-axis robotic arm configuration. The main contents include the kinematic analysis of the mobile robotic arm, the Cartesian spatial trajectory planning of the robotic arm and the design of the mobile robotic arm control system.