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The Design and Research of a Manipulator Based on the Mobile Platform

Author: ChaTing
Tutor: YeXiaoLing
School: Nanjing University of Information Engineering
Course: System Analysis and Integration
Keywords: mobile manipulator robot kinematics RBF MATLAB simulink
CLC: TP241
Type: Master's thesis
Year: 2011
Downloads: 275
Quote: 3
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Abstract


As an alternative for human labor, robot is a best tool from its birth day to nowadays, and in the future robot will be also the best human assistant.Robot has been widely used in industrial products and agricultural applications. As a kind of robot, manipulator sets machinery technology, electronic technology and automatic control technology in an integral one, and it is an important branch of robotics with the broad application prospect. The development of mobile manipulator makes traditional robot work space greatly extend. The field of mobile robot application is more and more extensive, and one of its important development direction is to achieve full democracy.Mobile manipulator is a kind of special mobile robot system fixed by a manipulator on a mobile platform. Manipulators are always used to grap and locate an object, and platform is used to expand the role of the manipulator working space, providing a better job of the manipulator environment. Aiming at the mobile manipulator is modular and the widespread heavy characteristics, a kind of miniaturization is designed in this paper at a low cost.To analyze the mathematical model of the mobile manipulator and compute its working space by simulation software. With the ability of handling nonlinear problem for neural network, we take a method based on the theory of RBF(Radial Basis Function)to solve the inverse kinematics of manipulator, so as to achieve the goal of the known environment positioning.In the end, the hardware system of the mobile manipulator is established.It includes a mobile platform and a 6 degree of freedom manipulator, motor driver module, ultrasonic sensors and communication module,etc.The motor driver module is used to control the manipulator and mobile platform movement,ultrasonic sensors used to realize auxiliary positioning targets,and communication module communicates data between PC and MCU.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator
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