Research On Coordinated Control Method Of The Mobile Manipulator Based On Multitask Priority

In recent years,the petrochemical industry in China has always maintained a momentum of rapid development,but behind the rapid development,a series of fire safety accidents have also emerged.When an accident occurs,opening the fire door by a robot instead of a person to enter the rescue site can effectively curb the deterioration of the situation and reduce harm to operators.Mobile robotic arms have the attributes of flexibility and high operability,providing greater activity space and operational dexterity in complex and unstructured environments.This article aims to conduct research on the coordinated control method of mobile robotic arms based on multi task priority,with the goal of opening doors for mobile robotic arms in petrochemical firefighting environments.The main work of this article is as follows:Design of mobile robotic arm control system and construction of experimental prototype platform.Based on the task requirements of opening the door for the mobile robotic arm,the overall scheme of the mobile robotic arm system was designed,and the control system framework for the mobile robotic arm was built.The main hardware modules were selected,and the integrated construction of the mobile robotic arm was completed according to the given design scheme.Kinematic modeling of mobile manipulator.According to the selected Aubo-i5 manipulator configuration,the D-H model was established,and the corresponding kinematics analysis of the manipulator was carried out.The correctness of the kinematic equations solved was verified by using MATLAB simulation software and the kinematics verification experiment of the manipulator,and further the kinematic modeling of the mobile manipulator as a whole makes an important preparation for the coordinated control of the manipulator.Propose directional operability optimization control for efficient operation of mobile robotic arms.Based on the task characteristics of mobile robotic arms in petrochemical firefighting environments,the proposed weighted matrix adjustment method is used to decompose the expected motion efficiently while improving end effector accuracy;By utilizing the directional operability optimization method,the directional operability of the robotic arm end is maximized,effectively improving the end force application ability and maintaining accurate trajectory tracking while executing high-intensity tasks;And conducted weighted matrix adjustment experiments and directional operability optimization experiments to verify the effectiveness of the control method.Propose a coordinated control framework based on multi task priority.To address the coordination control problem between the robot’s robotic arm and chassis,a research on a mobile robotic arm coordination control framework based on multi task priority is carried out.The redundancy of the mobile robotic arm is utilized to enable it to perform multiple tasks simultaneously,and different control tasks are prioritized for control.Case study on experiments and door opening assignments.Based on the constructed experimental prototype,conduct multi task control experiments and self motion control experiments to evaluate the effectiveness of the proposed coordinated control framework and analyze the sources of tracking errors.Then,based on the constructed experimental prototype,the specific implementation process of applying the control method proposed in this article to the door opening task is demonstrated through case studies of door opening experiments.The effectiveness of the method is verified through multiple experiments.The experimental results show that the success rate of the door opening task is over 90%,which can meet the task requirements of fire door opening operations.