Research On Control Of Deformable Omnidirectional Mobile Robot

Aiming at the application scenario and working environment of the deformable omni-directional mobile robot,the system structure and kinematics analysis are carried out.Firstly,the Mecanum wheel structure layout and advantages of the mobile robot are described;The theoretical derivation and detailed description of the motion posture of mobile robots and wheels in different coordinate systems are carried out,and the force analysis of each wheel is carried out,and then the mechanical equation of the whole mobile robot is obtained by splitting and fitting the mechanical equation of each wheel;According to the relevant theories in robotics,the model information of the selfdeveloped deformable omni-directional mobile robot in the wheelchair configuration and the wheel bed configuration are collected respectively,and the corresponding kinematics model is established.The optimal installation angle is determined by analyzing the influence of the installation angle of the roller on the Mecanum wheel on the wheel speed and acceleration.For the dynamic analysis and control analysis of the deformable omni-directional mobile robot,firstly,the wheel-bed configuration and wheelchair configuration of the deformable omni-directional mobile robot built by our laboratory are analyzed respectively,and then the modeling and dynamic analysis are carried out according to the relevant mechanical structure and physical laws and using the Lagrange method,and then from the control point of view,through the established dynamic model,To select the appropriate control algorithm to achieve the optimal control effect of the deformable mobile robot.Finally,the feasibility of the control algorithm is verified by computer simulation,and the physical construction of the mobile platform of the deformable omni-directional mobile robot is completed according to the simulation results.Then,the control research of deformable omnidirectional mobile robot is carried out,mainly aiming at the problems of poor stability when adaptive robust PD control algorithm is applied to the model,and then the better control algorithm is selected to achieve better control effect.The Lagrange method is proposed to establish the dynamic model separately,and the dynamic parameters required by the controller are obtained through calculation,which provides the model basis,Due to the strong nonlinear mapping and identification ability of RBF neural network,the corresponding compensation controller is designed to approximate the uncertainty of the mobile robot system.With the continuous progress and innovation of science and technology and the rapid development of intelligent control technology,it is imperative to strengthen the research and exploration of mobile robots in order to meet the requirements of more complex and difficult tasks and higher performance indicators brought by the development of the new era to mobile robots.For mobile robots with different working environments,especially mobile robots for service,there is still great room for development and progress in the research direction of dynamic intelligent control and unknown areas to be explored.The subject has completed kinematics modeling and dynamics modeling.For the application of the model,the robust adaptive PD control algorithm and RBF network robot adaptive algorithm have been used for preliminary verification.The results are quickly applied to the field of actual working conditions and service mobile robots.