Design Of Security Robot Mobile Platform And Research On Trajectory Tracking Control

In the 21 st century,with the rapid development of science and technology,the demographic dividend is gradually lost.What's more,the mass application of robots,especially the security robots,is attracting more and more attention with the development of market and the urgent need of social stability maintenance.In this paper,the design of the mobile platform of the security robot based on the Mecanum wheel is taken as the research object,so that it has three degrees of freedom of movement forward and backward,left and right,and rotation around itself on the two-dimensional surface to meet the requirements of working in narrow spaces.On the basis of completing the structural design of the mobile platform,this article builds the kinematics model and dynamics model of the security robot.The control method based on kinematics model is used to track and control the security robot.The main research contents of this article are as follows:First of all,combined with the working environment of security robots,this paper designs a mobile platform for security robots,and establishes its three-dimensional model through Solidworks software.The main structure of the mobile platform is analyzed statically and modally using Workbench software.So that it meets the actual carrying requirements.And on the basis of structure,kinematics model and dynamics model were built.Then,taking the built kinematics model of security robot as the research object,the following controllers are designed and simulated by MATLAB software,and the effectiveness of the controller designed in this paper is verified.(1)A sigmoid sliding mode switching function with integral term is designed.Switching control uses continuous functions instead of symbolic functions to construct a sliding mode controller with equivalent control and switching control.(2)In order to further reduce chattering and improve the response speed,an adaptive mechanism is introduced to the sigmoid sliding mode switching function of the integral term,and an adaptivesliding mode controller composed of equivalent control and switching control is created at the same time.(3)Based on the integral sliding mode control,the fuzzy sliding mode control strategy is further studied for the trajectory tracking control of the kinematics model of the security robot,and the good tracking performance of the controller is verified by simulation,and it is used as the first controller for the trajectory tracking control of the security robot.