Mobile manipulator arm is a traditional industrial assembly on a movable platform, the mobile robot manipulator advantages and industrial advantages of combining broaden its applications. At present, industrial production, space exploration, Housekeeping, deep sea development, military and other fields has been for risk many applications. Therefore, the movable arm algorithm for trajectory tracking control and path planning control is the meaning of a milestone. In addition, mobile platform and manipulator there is a strong coupling, in carrying out its mandate by another two due to the impact, the effect will be greatly reduced design control law, can not be completed over the target.In this paper, the movable link arm system with two degrees of freedom for the study, the use of the controlled object has a track structure is relatively simple, there is no model accuracy requirements, anti-interference ability and other characteristics of active disturbance rejection control technology tracking control method for the relevant theoretical and simulation analysis. Controlled system and path planning in the discussion.The following are the main contents of this paper:In this paper, nonlinear, strong coupling of the controlled system, using mathematical equations describing the establishment of a simple and practical mathematical model reflecting the system characteristics. By redundant Mobile Manipulator analysis constituted bodies and non-binding constraint affecting the integrity of its subject, it is derived from the Lagrange mechanics of the system path planning and research trajectory tracking control algorithm meaningful kinetic model. Characterization of space law through the implementation of a given task mobile manipulator motion path planning. In the space of discrete representing mobile manipulator system status every time a node space using A * algorithm plan a collision-free path can be the ideal path.In addition, this article from control theory research, for mobile manipulator system model was designed based on ADRC control technology trajectory tracking control strategy. According to the mobile manipulator system agencies redundancy features, the introduction of the system decomposition of the input torque design ideas to solve the problems between the coupling arm end effectors and mobile platforms. ADRC based on the model-independent and immunity, and ultimately design a mobile platform, respectively, and the end of the actuator arm trajectory control, and the design of the control law simulation. |