Research on the motion control of omni-directional mobile manipulators

Author(s): Huagang Liu, Ruican Hao

To solve the problem of the low work efficiency led by the fact that the manipulator can not be controlled flexibly, the present paper puts forward a project of accurately positioning information and the timely movement controlling of the manipulator. In this set of controlling project, in order to improve the controlling precision and timing of manipulator, the CAN bus technology is used, and two operation modes of the manipulator, namely the fixed-point steering and straight running, are studied. By using ultrasonic precise positioning technology, it is ensured that the measurement of free activities of the manipulator can be controlled, thus ensuring the work efficiency of manipulator. In order to verify the correctness of the proposed scheme, and the rationality of the adopted technology, the article did three experiments on the motion of manipulators. One of them is used to prove that control scheme is correct, and the other two are used to verify that controlling of omni-directional manipulator motion is high precise and can position accurately.

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