Abstract
At present, the research of robot door opening method is basically realized by identifying the door handle through the synchronous sensing system on the premise that the bio-inspired mobile manipulator is located in front of the door. An adaptive door opening strategy of a bio-inspired mobile manipulator based on a synchronous sensing system is proposed. Firstly, the random delay distribution in clock synchronization technology is analyzed in detail, and its distribution is verified on the experimental platform of adjacent nodes. Based on the Gaussian distribution of random delay, the relative frequency offset and relative phase offset of adjacent nodes are calculated. The clock synchronization of network cable sensor nodes is realized. Secondly, based on the information data of synchronous sensing system, this article realizes target detection and tracking based on depth network. In addition, based on the sliding mode control theory, the dynamic model of the nonholonomic bio-inspired mobile manipulator is applied. Finally, a robust adaptive sliding mode control method for nonlinear systems with input gain uncertainty and unmatched uncertainty is proposed by combining adaptive backstepping with sliding mode control. By adding sliding mode control in the last step of adaptive backstepping, the uncertainty of the system is compensated, and the system trajectory is maintained on the specified sliding mode manifold. The tracking control and stability control of the nonholonomic bio-inspired mobile manipulator are simulated. The experimental and simulation results show that the control method proposed in this article is effective and feasible.
Highlights
In recent years, with the rapid development of robot technology, robots are playing a more and more important role in people’s life
Due to the difference between the start-up time of nodes and the time of establishing connections, we found in many experimental results that the initial phase difference of adjacent nodes is generally between 150 and 250 ms
The adaptive control of the bio-inspired mobile manipulator based on synchronous sensing is studied
Summary
With the rapid development of robot technology, robots are playing a more and more important role in people’s life. The control mode of the robot is basically realized by manual control with a remote controller and operating handle, and its flexibility is poor (Brahmi et al, 2021). The natural body sensing control technology is introduced into the control of the manipulator and the control mode based on synchronous sensing technology (Tolosana et al, 2020). This non-contact adaptive control of the manipulator has great practical value. The innovation of robot control mode is realized, making the robot control more diverse and flexible. The research on this subject has certain engineering practical significance (Lu et al, 2020)
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