轮式移动机械臂的建模与仿真研究

移动机械臂系统一般由移动平台和机器臂组成，它既具有机器臂的操作灵活性，又具有移动机器人的可移动性，因此其应用范围要比单个系统宽得多。这篇文章主要研究了由非完整移动平台和完整机械臂组成的轮式移动机械臂系统的建模、跟踪控制及仿真问题。首先。利用拉格朗日动力学方程和非完整动力学罗兹方程建立了移动机械臂系统的精确数学模型；然后。利用非线性反馈将系统解耦。采用类PD控制器进行控制。在考虑了非完整约束及移动平台和机械臂的动态交互影响情况下，该控制算法保证系统同时跟踪给定的终端执行器和平台轨迹；最后，使用Maflah6．5对系统进行了仿真研究，仿真结果表明了其数学模型及控制方法的正确有效性。

Modeling and Simulation of Wheeled Mobile Manipulators

A mobile manipulator system typically consists of a mobile base and some manipulators mounted on the mobile base. The typical characteristic of mobile manipulator system is the mobility of mobile base plus the flexibility of manipulators, and this enlarges its applications. In this article, modeling and tracking control is investigated for a wheeled mobile manipulator system composed of a nonholonomic mobile platform and manipulators mounted on the mobile platform. First, kinematics and dynamics of wheeled mobile manipulators are proposed by using Lagrange dynamics equation and nonholonomic dynamics Routh equation. Then, a like - PD controller is presented in which non- linear feedback is used to decouple the system. The control algorithm guarantees system to track simultaneously the desired end - effector and platform trajectories without violating the nonholonomic constraints and the interaction between the mobile platform and the manipulators. Simulation of a wheeled mobile manipulator system is used to show the validity of modeling and the effectiveness of the proposed scheme .