Research on Control Strategy of Distributed Articulated Robot Based on Vehicle-arm Coordination

In order to improve the steering ability of articulated mobile robot, an articulated robot equipped with encoder telescopic rod and distributed electric wheel is designed. The rationality of the structure is verified by finite element simulation. The dynamic modeling of the robot is carried out by Newton-Euler method, and a steering control strategy is proposed. Based on Adams / Simulink joint simulation, the steering control strategy model is built and the simulation experiment is carried out. The motion of the articulated mobile robot under various working conditions is analyzed. The lateral displacement of the rear body is greatly reduced, which effectively avoids the occurrence of ' tail flick '. The physical experiment shows that the turning radius and turning time of the articulated mobile robot under the steering control strategy are better, which can effectively improve the steering ability of the robot.