Analysis of the Dynamics and Controllability of an Autonomous Mobile Robot with a Manipulator

摘要

The results of the study of the dynamics and control of an autonomous mobile robot with a manipulator are presented. An all-wheel drive model with a four-wheeled chassis layout and equipped with a four-link manipulator is considered. The design of the manipulator consists of a docking ring rotating around a vertical axis and three rod links of the arm, connected by rotary kinematic pairs of the fifth class. The mathematical model of controlled movement of autonomous mobile robot with a manipulator is proposed. With relative motion of the manipulator, the tensor of inertia of an autonomous mobile robot in the coordinate system associated with the chassis is non-diagonality and non-stationarity. Simplifications of the mathematical model for several driving modes are substantiated. An algorithm for integrating the equations of dynamics is developed, taking into account certain features. 242Based on the results of mathematical modeling, an algorithm for adaptive control of autonomous mobile robot with a manipulator is proposed.