基于微分几何移动机械臂非线性控制的探讨

摘要

With its wide working space and flexible operation ability, the mobile manipulator since its coming has been greatly valued in the international academia and industry. But it is vulnerable to some uncertainty in the process of movement parameters and external disturbance, thus its motion control is very difficult. Differential geometry method can ensure the accurate control of kinematic system, achieving a wide range of comprehensive analysis. By analyzing the differential geometry nonlinear control and mobile manipulator situation, this paper explores the differential geometry nonlinear control of mobile manipulator.%移动机械臂自诞生以来因具备广阔的工作空间以及灵活的操作能力而受到国际学术界与工业界的高度重视；但是其在运动过程中容易受到一些不确定性的参数以及外扰动等因素的影响，因此其运动控制非常困难，而微分几何法可确保运动系统的精确控制，实现大范围的综合分析。通过对微分几何非线性控制与移动机械臂进行概况分析，探讨基于微分几何移动机械臂的非线性控制。