Coupled dynamic modeling and experimental validation of a collaborative industrial mobile manipulator with human-robot interaction

摘要

Dynamic modeling and analysis of a collaborative industrial mobile manipulator provide essential foundation and guidance for controlling it to achieve the desired physical interaction. However, it is a well-recognized challenge to precisely model the dynamics of a collaborative mobile manipulator due to its high-DOF (degree of freedom) structure, nonholonomic constraints, dynamic coupling between the manipulator and the mobile platform, and physical interaction with environments/humans. This paper presents a dynamic model of a new high-DOF nonholonomic collaborative mobile manipulator applied to physical human-robot collaboration scenarios, accounting for the dynamic coupling. A full Jacobian matrix introduces the dynamic coupling and is derived to solve the nonholonomic constraints on the velocity of the mobile platform. Besides, it facilitates the formulation of the dynamic model with independent generalized coordinates based on Lagrange equations. The comprehensive simulations with ADAMS are carried out along a pre-set trajectory to verify the coupled dynamic model. The dynamic modeling method is further validated by the human-robot interaction experiment. The simulation and testing results demonstrate the accuracy of the coupled dynamic model of the collaborative mobile manipulator.