Mobile manipulator systems are comprised of a mobile platform with one or more manipulators and are of great interest in a number of applications such as indoor warehouses, mining, construction, forestry etc. We present an approach for computing actuator commands for such systems so that they can follow desired end-effector and platform trajectories without the violation of the nonholonomic constraints of the system in an indoor warehouse environment. We work with the Fetch robot which consists of a 7-DOF manipulator with a differential drive mobile base to validate our method. The major contributions of our project are, writing the dynamics of the system, Trajectory planning for the manipulator and the mobile base, state machine for the pick and place task and the inverse kinematics of the manipulator. Our results indicate that we are able to successfully implement trajectory control on the mobile base and the manipulator of the Fetch robot.
翻译:移动操作系统由一个移动平台和一个或多个机械手臂组成,在室内仓库、采矿、建筑、林业等领域具有极大的应用价值。我们提出了一种方法,用于计算这种系统的执行器命令,使其能够在不违反系统的非完整性约束条件的情况下,跟随所需的末端执行器和平台轨迹,并在室内仓库环境中验证该方法。我们使用了具有差动驱动移动基地的7自由度机械臂的 Fetch 机器人来验证我们的方法。我们项目的主要贡献是,编写系统的动力学方程,规划机械手臂和移动基座的轨迹,设计抓取和放置任务的状态机和机械臂的逆运动学等。我们的结果表明,我们能够成功地在 Fetch 机器人的移动基地和机械臂上实现轨迹控制。