Kinematics and control system of 9DOF omni-directional mobile manipulators

To get optimization inverse kinematics solutions for a class of redundant mobile manipulators quickly and accurately, an inverse kinematics method based on the joint partial optimization method, the analytical method and the genetic trust region algorithm was proposed. The method decreases the joint movement parameters to be solved by applying the equivalent joint method and the partial optimization method, then, uses the analytical method to express the manipulators' remaining joint movement parameters with the mobile vehicle's movement parameters, and introduces the best flexibility principle to build the objective function which only contains the parameters of mobile vehicles, and finally, solves the optimization problem of the objective function by the genetic trust region algorithm to get the inverse kinematics solutions of the mobile manipulator. The control system of the robots was designed. The work included the designs of the hierarchical structure of servo-control, the control system's hardware structure, the differential wheel rotating and tumbling decoupling control, and the multi-turn absolute encoder signal incremental processing. The experimental results show the inverse kinematics method can quickly obtain accurate and optimization inverse solutions, and the control system is stability.