基于车－臂协同策略的移动机械臂柔顺开门技术

In response to the demand for door-opening tasks in unmanned environments, a compliant door-opening technology for mobile manipulator based on a platform-manipulator collaboration strategy is proposed. This technology is primarily applied to hazardous environments such as nuclear leakage and radiation, aiming to enable the mobile manipulator to complete door-opening tasks through platform-manipulator collaboration motion. Firstly, cameras and radars are used to perceive the surrounding environment and accurately obtain the positions of the door and the door handle. A door-opening degree detection algorithm based on the door plane point cloud data is proposed. For the task of grasping and rotating the door handle, a model-based adaptive impedance compliant controller is designed to improve the manipulator’s compliance and anti-interference ability during the door-opening process. In addition, a multi-task modular planning framework for platform-manipulator collaboration motion is established, which couples the manipulator and mobile platform at the kinematic level, achieving autonomous compliant door opening. Finally, a mobile manipulator experimental platform is built, and door-opening tests are conducted, comparing the results with traditional compliant control methods. The experimental results show that the proposed adaptive compliant controller reduces the contact force oscillation range by 30% compared to the traditional impedance controller. At the same time, the designed door-opening strategy successfully completes a 70^◦ door-opening task. The experiments validate the effectiveness of the adaptive impedance controller in improving the manipulator compliance and confirm the feasibility and effectiveness of the platform-manipulator collaboration based door-opening strategy in the compliant door-opening process of mobile manipulators.