Study Of Mobile Manipulator In Path-planning And Full Parameters Kinematics Algorithm

The core of the mobile manipulator is mainly composed of two parts, one part is the upper manipulator and the other part is the bottom moving chassis. The mobile manipulator retains the flexibility of the robot manipulator at the same time, also has a free movement of the chassis, greatly expanding the manipulator in the space of the work space. Therefore, in the industrial manufacturing, defense, transportation, warehousing logistics, service industries and other fields, mobile manipulator has a good application prospects. With China’s development. the rapid development of online shopping, warehousing, logistics automation and high efficiency put forward more requirements, and mobile manipulator on the warehousing, logistics industry is an excellent choice. Therefore, both in scientific research or in practical applications or other fields, in-depth development of its research is great significance.In this paper, the general structure of the mobile manipulator is introduced, and the characteristics and requirements of each system component are introduced. Some hotspots of mobile robots are summarized.Secondly, for the current kinematics algorithm of manipulator, we can only input a few DH parameters, which inevitably has the problem of kinematic model error. A kinematic algorithm with higher precision is proposed. For the 6-DOF manipulator with spherical joints,the input of 11 DH parameters in the DH model can be implemented.In order to eliminate the "local minimum point lock" in the artificial potential field algorithm, a fusion of the commonly used raster map algorithm, artificial potential field algorithm is proposed, the algorithm can not only avoid the "local minimum point Lock"problem, but also make the algorithm in the calculation process of data reduction.In order to verify the effectiveness of the algorithm, this paper studies the kinematics simulation of the raster map path degradation algorithm based on the artificial potential field theory through ROS (open source robot operating system). The experimental results show that the proposed raster map method based on artificial potential field can quickly and reliably plan the optimal path. The full parametric kinematics algorithm of the proposed manipulator is verified by using the robotics-toolbox toolbox. The results show that compared with the traditional kinematic algorithms, the full kinematics algorithm of the manipulator has higher model accuracy, and the static error common in the manipulator algorithm of the manipulator can be reduced to a great extent.Finally, based on the ROS framework, a mobile robot platform is built. The validity of the algorithm is verified in the real environment, and the optimal path is generated under the known conditions of the map environment.