CN106926238A - The cooperative control method and device of the multi-redundant mechanical arm system based on impact degree - Google Patents

The cooperative control method and device of the multi-redundant mechanical arm system based on impact degree Download PDF

Info

Publication number
CN106926238A
CN106926238A CN201710084020.5A CN201710084020A CN106926238A CN 106926238 A CN106926238 A CN 106926238A CN 201710084020 A CN201710084020 A CN 201710084020A CN 106926238 A CN106926238 A CN 106926238A
Authority
CN
China
Prior art keywords
mechanical arm
target
target redundancy
degree mechanical
redundancy degree
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710084020.5A
Other languages
Chinese (zh)
Other versions
CN106926238B (en
Inventor
金龙
李帅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HKUST Shenzhen Research Institute
Original Assignee
HKUST Shenzhen Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by HKUST Shenzhen Research Institute filed Critical HKUST Shenzhen Research Institute
Priority to CN201710084020.5A priority Critical patent/CN106926238B/en
Publication of CN106926238A publication Critical patent/CN106926238A/en
Application granted granted Critical
Publication of CN106926238B publication Critical patent/CN106926238B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Software Systems (AREA)
  • Medical Informatics (AREA)
  • Evolutionary Computation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to mechanical arm control field, a kind of cooperative control method and device of the multi-redundant mechanical arm system based on impact degree are proposed.Methods described includes：Determine the target redundancy degree mechanical arm in multi-redundant mechanical arm system；Obtain position, speed and the acceleration information of the adjacent redundant degree mechanical arm of the target redundancy degree mechanical arm；Obtain the reference point trace information of the target redundancy degree mechanical arm；The corresponding Jacobian matrix equation of the target redundancy degree mechanical arm is built according to default rule according to the position, speed and acceleration information, and the reference point trace information；The control signal of the target redundancy degree mechanical arm is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR；The target redundancy degree mechanical arm is controlled according to the control signal, each redundancy mechanical arm in the system is realized that distributed collaboration is moved.The present invention can realize the distributed collaboration motion of the Multi-arm robots based on impact degree in the case where communication is limited.

Description

The cooperative control method and device of the multi-redundant mechanical arm system based on impact degree
Technical field
The present invention relates to mechanical arm control field, and in particular to a kind of multi-redundant mechanical arm system based on impact degree Cooperative control method and device.
Background technology
Redundancy mechanical arm has the free degree more than the characteristic of least degree of freedom needed for task space, is widely used in equipment In the national economy production activity such as manufacture, Product processing, machinery operation, production can be greatly improved compared to traditional manual work Efficiency.
The multi-redundant based on impact degree is referred to as using the system that the redundancy mechanical arm that impact degree is controlled is constituted by multiple Mechanical arm system, however, in wide operating environment, each redundancy in the multi-redundant mechanical arm system based on impact degree Mechanical arm does not have the ability of global communication generally, additionally, control centre is also difficult to connect because of the limitation of distance and traffic load Entering all mechanical arms carries out direct communication.It is possible to be led because quantity is more under extensive environment, between redundancy mechanical arm Cause traffic load excessive and be difficult to communicate, and then cause the information can not to be shared at any time, everywhere, it is serious to hinder to be based on impact degree Multi-arm robots realize distributed collaboration move.
The content of the invention
The present invention proposes a kind of cooperative control method and device of the multi-redundant mechanical arm system based on impact degree, it is intended to Solve the problems, such as how to realize that the distributed collaboration of the Multi-arm robots based on impact degree is moved in the case where communication is limited.
Embodiment of the present invention first aspect provides a kind of collaboration control of the multi-redundant mechanical arm system based on impact degree Method processed, the multi-redundant mechanical arm system includes more than two redundancy mechanical arms, described two redundancies above Mechanical arm is connected in communication topology figure；
The control method includes：
At least one redundancy mechanical arm is target redundancy degree machinery in determining the redundancy mechanical arm more than described two Arm；
Obtain position, speed and the acceleration information of the adjacent redundant degree mechanical arm of the target redundancy degree mechanical arm, institute State the adjacent connection in communication topology figure with the target redundancy degree mechanical arm of adjacent redundant degree mechanical arm；
The reference point trace information of the target redundancy degree mechanical arm is obtained, the reference point trace information is by default mesh The desired trajectory of mark reference point and the intended reference point determines；
According to the position, speed and acceleration information, and the reference point trace information is according to default rule structure Build the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm；
In the Jacobian matrix equation, the joint angles limit, the joint velocity limit, the joint velocity limit and articular process Plus under the constraint of the degree limit, the control of the target redundancy degree mechanical arm is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR Signal processed；
The target redundancy degree mechanical arm is controlled according to the control signal, makes the redundancy mechanical arm more than described two Realize that distributed collaboration is moved.
Embodiment of the present invention second aspect provides a kind of collaboration control of the multi-redundant mechanical arm system based on impact degree Device processed, the multi-redundant mechanical arm system includes more than two redundancy mechanical arms, described two redundancies above Mechanical arm is connected in communication topology figure；
The control device includes：
Target mechanical arm determining module, at least one redundancy in the redundancy mechanical arm for determining described two above Mechanical arm is target redundancy degree mechanical arm；
Data obtaining module, position, the speed of the adjacent redundant degree mechanical arm for obtaining the target redundancy degree mechanical arm Degree and acceleration information, the adjacent redundant degree mechanical arm adjacent company in communication topology figure with the target redundancy degree mechanical arm Connect；
Reference point trace information acquisition module, the reference point trace information for obtaining the target redundancy degree mechanical arm, The reference point trace information is determined by the desired trajectory of default intended reference point and the intended reference point；
Equation builds module, for according to the position, speed and acceleration information, and the reference point trace information The corresponding Jacobian matrix equation of the target redundancy degree mechanical arm is built according to default rule；
Control signal determining module, for the Jacobian matrix equation, the joint angles limit, the joint velocity limit, Under the constraint of the joint velocity limit and the joint impact degree limit, institute is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR State the control signal of target redundancy degree mechanical arm；
Mechanical arm control module, for controlling the target redundancy degree mechanical arm according to the control signal, makes described two Redundancy mechanical arm more than individual realizes that distributed collaboration is moved.
In embodiments of the present invention, the target redundancy degree mechanical arm in multi-redundant mechanical arm system is determined；Obtain described The position of the adjacent redundant degree mechanical arm of target redundancy degree mechanical arm, speed and acceleration information；Obtain the target redundancy degree The reference point trace information of mechanical arm；Pressed according to the position, speed and acceleration information, and the reference point trace information The corresponding Jacobian matrix equation of the target redundancy degree mechanical arm is built according to default rule；According to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR determines the control signal of the target redundancy degree mechanical arm；Control the target superfluous according to the control signal Remaining mechanical arm, makes each redundancy mechanical arm in the multi-redundant mechanical arm system realize that distributed collaboration is moved.Profit The cooperative control method proposed with the embodiment of the present invention, because target redundancy degree mechanical arm only need to be with the adjacent redundant of negligible amounts Degree mechanical arm is communicated, and substantially reduces traffic load, so as to can be realized based on impact degree in the case where communication is limited The distributed collaboration motion of Multi-arm robots.
Brief description of the drawings
Fig. 1 is a kind of cooperative control method one of the multi-redundant mechanical arm system based on impact degree in the embodiment of the present invention The flow chart of individual embodiment；
Fig. 2 is the particular flow sheet of one embodiment of step 104 in Fig. 1；
Fig. 3 is the particular flow sheet of one embodiment of step 1042 in Fig. 2；
Fig. 4 is the particular flow sheet of one embodiment of step 105 in Fig. 1；
Fig. 5 is a kind of Collaborative Control device one of the multi-redundant mechanical arm system based on impact degree in the embodiment of the present invention The structure chart of individual embodiment.
Specific embodiment
The present invention proposes a kind of cooperative control method and device of the multi-redundant mechanical arm system based on impact degree, it is intended to Solve the problems, such as how to realize that the distributed collaboration of the Multi-arm robots based on impact degree is moved in the case where communication is limited.
To enable that goal of the invention of the invention, feature, advantage are more obvious and understandable, below in conjunction with the present invention Accompanying drawing in embodiment, is clearly and completely described, it is clear that disclosed below to the technical scheme in the embodiment of the present invention Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention Scope.
Fig. 1 shows of a kind of cooperative control method of the multi-redundant mechanical arm system based on impact degree of the present invention The flow chart of embodiment, the multi-redundant mechanical arm system include more than two redundancy mechanical arms, it is described two more than Redundancy mechanical arm connected in communication topology figure；
As shown in figure 1, the control method includes：
101st, at least one redundancy mechanical arm is target redundancy degree in determining the redundancy mechanical arm more than described two Mechanical arm；
Redundancy mechanical arm more than described two is distributed on demand in working space, it is determined that one or more is superfluous Remaining mechanical arm is target redundancy degree mechanical arm, the target redundancy degree mechanical arm is realized repeating motion.
102nd, position, speed and the acceleration letter of the adjacent redundant degree mechanical arm of the target redundancy degree mechanical arm are obtained Breath, the adjacent redundant degree mechanical arm adjacent connection in communication topology figure with the target redundancy degree mechanical arm；
It is determined that after target redundancy degree mechanical arm, obtaining the adjacent redundant degree mechanical arm of the target redundancy degree mechanical arm Position, speed and acceleration information.The adjacent redundant degree mechanical arm refers to the target redundancy degree mechanical arm in communication topology The redundancy mechanical arm of adjacent connection in figure, and target redundancy degree mechanical arm belongs to same multi-redundant mechanical arm system.Due to The multi-redundant mechanical arm system is connection in communication topology figure, therefore is come for certain target redundancy degree mechanical arm Say, the number of its adjacent redundant degree mechanical arm is one or more.The positional information can be the end of redundancy mechanical arm The positional information of actuator, or the positional information at other positions of redundancy mechanical arm.Similarly, the velocity information Can be the speed at other positions of the velocity information, or redundancy mechanical arm of the end effector of redundancy mechanical arm Information；The acceleration information can be the acceleration information, or redundancy of the end effector of redundancy mechanical arm The acceleration information at other positions of mechanical arm.Target redundancy degree mechanical arm can be intercoursed with its adjacent redundant degree mechanical arm The position, speed and acceleration information.
103rd, the reference point trace information of the target redundancy degree mechanical arm is obtained, the reference point trace information is by presetting Intended reference point and the intended reference point desired trajectory determine；
The intended reference point is the position reference point in the default degree mechanical arm working space positioned at target redundancy, described Reference point trace information is determined by the desired locations of the intended reference point, speed and acceleration.Can be in multi-redundant machinery One control centre is set in the working space of arm system, the reference point trace information is sent to respectively by the control centre Individual target redundancy degree mechanical arm, it is also possible to sent out the reference point trace information using adjacent redundant degree mechanical arm or other manner Give each target redundancy degree mechanical arm.
104th, according to the position, speed and acceleration information, and the reference point trace information is according to default rule Then build the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm；
In the position of the adjacent redundant degree mechanical arm for obtaining the target redundancy degree mechanical arm, speed and acceleration information, And after the reference point trace information of the target redundancy degree mechanical arm, according to the position, speed and acceleration information, with And the reference point trace information builds corresponding Jacobian matrix of the target redundancy degree mechanical arm etc. according to default rule Formula.
Further, as shown in Fig. 2 step 104 can specifically include：
1041st, the corresponding weight matrix of the target redundancy degree mechanical arm, each element in the weight matrix are built For the target redundancy degree mechanical arm and it is described two more than redundancy mechanical arm in each mechanical arm between it is corresponding respectively First connection weights；
The element number of the weight matrix is determined by the mechanical arm number in the multi-redundant mechanical arm system, described First connection weights represent the target redundancy degree mechanical arm with it is described two more than redundancy mechanical arm in each machinery Communication connection relation between arm.Such as define weight matrixIts i-th j element definition is on communication topology figure Between i-th redundancy mechanical arm and j-th redundancy mechanical arm first connects weights.
1042nd, the acquisition state according to the reference point trace information determines the second company of the target redundancy degree mechanical arm Logical weights；
The second connection weights represent acquisition of the target redundancy degree mechanical arm for the reference point trace information State, can use ρiTo represent i-th second connection weights of redundancy mechanical arm.
1043rd, according to the position, speed and acceleration information, the reference point trace information, the weight matrix and The second connection weights build the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm.
After building weight matrix and determining the second connection weights, can be believed according to the position, speed and acceleration Breath, the reference point trace information, the weight matrix connect weights with described second and build the target redundancy degree mechanical arm Corresponding Jacobian matrix equation.
Further, the first connection weights can be determined by following steps：
(1) first between the target redundancy degree mechanical arm and the target redundancy degree mechanical arm itself is connected into weights It is set to 1；
(2) first between the target redundancy degree mechanical arm and adjacent redundant degree mechanical arm is connected into weights and is set to 1；
(3) the non-self and non-phase in the redundancy mechanical arm by the target redundancy degree mechanical arm with described two above The first connection weights between adjacent redundancy mechanical arm are set to 0.
For above-mentioned steps (1), the target redundancy degree mechanical arm and its own between possess communication connection relation, therefore Described first connection weights are set to 1.For above-mentioned steps (2), the target redundancy degree mechanical arm and adjacent redundant degree machine Information can be directly exchanged between tool arm, therefore the described first connection weights are set to 1.For above-mentioned steps (3), the mesh Without directly exchange information between mark redundancy mechanical arm and non-self and non-adjacent redundancy mechanical arm, therefore by described first Connection weights are set to 0.
As shown in figure 3, step 1042 can specifically include：
10421st, judge whether the target redundancy degree mechanical arm gets the reference point trace information；
If the 10422, the target redundancy degree mechanical arm gets the reference point trace information, by the described second connection Weights are set to 1；
If the 10423, the target redundancy degree mechanical arm does not get the reference point trace information, described second is connected Logical weights are set to 0.
Acquisition state according to the reference point trace information determines the second connection power of the target redundancy degree mechanical arm Value, if the target redundancy degree mechanical arm gets the reference point trace information, the described second connection weights is set to 1, the described second connection weights are otherwise set to 0.
The general expression of the Jacobian matrix equation is specifically as follows：
Wherein
JiThe Jacobian matrix of target redundancy degree mechanical arm i is represented,WithRespectively JiSingle order led with second-order time Number；The joint velocity vector of target redundancy degree mechanical arm i is represented,WithRespectivelySingle order and second time derivative；Expression connects the numbering of the mechanical arm that weights are 1 with first between target redundancy degree mechanical arm i；AijRepresent target The weight matrix of redundancy mechanical arm i, each element in the weight matrix is target redundancy degree mechanical arm i and redundancy machine The first connection weights between tool arm j；ρiRepresent the second connection weights of target redundancy degree mechanical arm i；δi=ri-rirpFor described Positional information, riIt is the position of the end effector of target redundancy degree mechanical arm i, rirpIt is default target redundancy degree mechanical arm i Distance vector of the end effector relative to the intended reference point；It is the velocity information,It is target redundancy degree The speed of the end effector of mechanical arm i；It is the acceleration information,For the end of target redundancy degree mechanical arm i is held The acceleration of row device；rdIt is the desired locations of the intended reference point,It is the desired speed of the intended reference point,For institute State the expectation acceleration of intended reference point；c0＞ 0, c1＞ 0 and c2＞ 0 is the parameter of control algolithm convergence rate, its more big then generation Watch convergence rate is faster.
Above-mentioned Jacobian matrix equation (1) mainly is responsible for realizing the distributed collaboration kinematic constraint between many mechanical arms, leads to Cross position, speed and the acceleration information for obtaining other redundancy mechanical arm end effectors, you can by i-th redundancy machinery The expectation impact degree constraint of arm is set to above-mentioned other redundancy mechanical arm relevant positions, the weighted average of velocity and acceleration (it is described that weight is Jacobi's equality constraint the right), so as to realize cooperative motion.Based on Jacobian matrix equality constraint (1) structure The characteristics of many mechanical arm cooperative motion systems built have high robust, low communication cost, specifically, for many mechanical arm systems System, the stabilization for not affecting the system is added or exits when there is a mechanical arm.Additionally, each mechanical arm is only needed to and quantity Less adjacent machine arm communication, it is not necessary to meet the requirement of global communication.If there are 100 mechanical arms, then it is logical in the overall situation In the case of letter, the communication linkage number for needing altogether is 100*99/2=4950；And utilize the distribution of embodiment of the present invention proposition Scheme at least only needs to 99 communication linkage numbers, substantially reduces traffic load.
105th, in the Jacobian matrix equation, the joint angles limit, the joint velocity limit, the joint velocity limit and pass Save under the constraint of the impact degree limit, the target redundancy degree mechanical arm is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR Control signal；
After the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm is built, in the Jacobian matrix Under the constraint of equation, the joint angles limit, the joint velocity limit, the joint velocity limit and the joint impact degree limit, according to two Secondary type optimization and standard QUADRATIC PROGRAMMING METHOD FOR determine the control signal of the target redundancy degree mechanical arm.
Further, as shown in figure 4, step 105 can specifically include：
1051st, it is impact degree norm minimum to set performance indications, in the Jacobian matrix equation, joint angles pole Quadratic form optimum results are determined under the constraint of limit, the joint velocity limit, the joint velocity limit and the joint impact degree limit；
The embodiment of the present invention needs the distributed collaboration for realizing the Multi-arm robots based on impact degree to move, therefore two In secondary type optimization process set minimize performance indications be impact degree norm minimum, then the Jacobian matrix equation, Determine that quadratic form is excellent under the constraint of the joint angles limit, the joint velocity limit, the joint velocity limit and the joint impact degree limit Change result.
Further, if shown in the Jacobian matrix equation such as formula (1), quadratic form optimization specifically can be with For：
Cause that the first formula is minimized under the first constraints；
First constraints includes：
Jacobian matrix equality constraint
Joint angles limiting constraint
Joint velocity limiting constraint
Joint velocity limiting constraint
Joint impact degree limiting constraint
First formula is
Wherein, the transposition of subscript T representing matrixs and vector；Represent that the joint angles of target redundancy degree mechanical arm i are upper and lower Limit；The joint velocity bound of target redundancy degree mechanical arm i is represented,Represent that the joint of target redundancy degree mechanical arm i accelerates Degree bound,Represent the joint impact degree bound of target redundancy degree mechanical arm i.
1052nd, the quadratic form optimum results are converted into standard quadratic programming；
Quadratic form optimum results are converted into standard quadratic programming, to be solved.
Further, if quadratic form optimization is as shown in formula (2) to (7), it is contemplated that above-mentioned optimization problem is prominent Plus solved on degree layer, therefore need to be by i-th joint angles constraint (3) of redundancy mechanical arm, joint velocity constraint (4), joint Acceleration constrains (5) and joint impact degree constraint (6) merges, such that it is able to obtain below based on impact degreeBoth-end inequality Constraint：
Wherein,WithI-th high-low limit of the synthesis both-end constraint of redundancy mechanical arm is represented respectively, Their p-th element is respectively defined asWithWhereinIt is nargin, ip represents i-th The joint sequence number of individual redundancy mechanical arm, p=1,2 ..., m, m are the number of degrees of freedom of mechanical arm, k1＞ 0, k2＞ 0 and k3＞ 0 The feasible zone sufficiently large for adjusting and ensureing joint impact degree.Use xiRepresent i-th impact degree of redundancy mechanical armOn State quadratic form prioritization scheme (2) to (7) and just can be described as following standard quadratic programming scheme：
Constraints：Cixi=di (8)
Minimize：
Wherein, xiRepresentW is unit matrix, Ci=Ji,
1053rd, the standard quadratic programming is solved, obtains solving result；
The standard quadratic programming problem can be solved using standard Quadratic Programming Solution device or numerical method, Obtain the optimal solution of the acceleration repetitive motion planning method of each target redundancy degree mechanical arm.
1054th, the control signal of the target redundancy degree mechanical arm is determined according to the solving result.
The control signal of the target redundancy degree mechanical arm is determined according to the solving result, then using the control letter Number target redundancy degree mechanical arm is controlled.
106th, the target redundancy degree mechanical arm is controlled according to the control signal, makes the redundancy machine more than described two Tool arm realizes that distributed collaboration is moved.
It is determined that after the control signal of the target redundancy degree mechanical arm, controlling the target superfluous according to the control signal Remaining manipulator motion.It is final to cause to be kept and the constant situation of reference point relative distance in each robot arm end effector Under, the redundancy mechanical arm system based on impact degree realizes that distributed collaboration is moved.
In embodiments of the present invention, the target redundancy degree mechanical arm in multi-redundant mechanical arm system is determined；Obtain described The position of the adjacent redundant degree mechanical arm of target redundancy degree mechanical arm, speed and acceleration information；Obtain the target redundancy degree The reference point trace information of mechanical arm；Pressed according to the position, speed and acceleration information, and the reference point trace information The corresponding Jacobian matrix equation of the target redundancy degree mechanical arm is built according to default rule；According to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR determines the control signal of the target redundancy degree mechanical arm；Control the target superfluous according to the control signal Remaining mechanical arm, makes each redundancy mechanical arm in the multi-redundant mechanical arm system realize that distributed collaboration is moved.Profit The cooperative control method proposed with the embodiment of the present invention, because target redundancy degree mechanical arm only need to be with the adjacent redundant of negligible amounts Degree mechanical arm is communicated, and substantially reduces traffic load, so as to can be realized based on impact degree in the case where communication is limited The distributed collaboration motion of Multi-arm robots.
A kind of cooperative control method of the multi-redundant mechanical arm system based on impact degree is essentially described above, below will A kind of Collaborative Control device of the multi-redundant mechanical arm system based on impact degree is described in detail.
Fig. 5 is referred to, a kind of association of the multi-redundant mechanical arm system based on impact degree in the embodiment of the present invention is shown Same control device, the multi-redundant mechanical arm system include more than two redundancy mechanical arms, it is described two more than it is superfluous Remaining mechanical arm is connected in communication topology figure；
The control device includes：
Target mechanical arm determining module 501, it is superfluous in the redundancy mechanical arm for determining described two above at least one Remaining mechanical arm is target redundancy degree mechanical arm；
Data obtaining module 502, the position of the adjacent redundant degree mechanical arm for obtaining the target redundancy degree mechanical arm, Speed and acceleration information, the adjacent redundant degree mechanical arm are adjacent in communication topology figure with the target redundancy degree mechanical arm Connection；
Reference point trace information acquisition module 503, the reference locus of points for obtaining the target redundancy degree mechanical arm is believed Breath, the reference point trace information is determined by the desired trajectory of default intended reference point and the intended reference point；
Equation builds module 504, for according to the position, speed and acceleration information, and the reference locus of points Information builds the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm according to default rule；
Control signal determining module 505, in the Jacobian matrix equation, the joint angles limit, joint velocity pole It is true according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR under the constraint of limit, the joint velocity limit and the joint impact degree limit The control signal of the fixed target redundancy degree mechanical arm；
Mechanical arm control module 506, for controlling the target redundancy degree mechanical arm according to the control signal, makes described More than two redundancy mechanical arms realize that distributed collaboration is moved.
Further, the equation builds module 504 and can specifically include：
Weight matrix construction unit, for building the corresponding weight matrix of the target redundancy degree mechanical arm, the weight Each element in matrix be the target redundancy degree mechanical arm with it is described two more than redundancy mechanical arm in each machine Corresponding first connection weights are distinguished between tool arm；
First determining unit, for determining the target redundancy degree machine according to the acquisition state of the reference point trace information Second connection weights of tool arm；
Equation construction unit, for according to the position, speed and acceleration information, the reference point trace information, institute State weight matrix and the corresponding Jacobian matrix equation of the weights structure target redundancy degree mechanical arm is connected with described second.
Further, the weight matrix construction unit can specifically include：
First setup module, for by between the target redundancy degree mechanical arm and the target redundancy degree mechanical arm itself First connection weights be set to 1；
Second setup module, for first between the target redundancy degree mechanical arm and adjacent redundant degree mechanical arm to be connected Logical weights are set to 1；
3rd setup module, in the redundancy mechanical arm by the target redundancy degree mechanical arm with described two above Non-self and non-adjacent redundancy mechanical arm between first connection weights be set to 0；
First determining unit can specifically include：
Judge module, for judging whether the target redundancy degree mechanical arm gets the reference point trace information；
4th setup module, if getting the reference point trace information for the target redundancy degree mechanical arm, will The second connection weights are set to 1；
5th setup module, if not getting the reference point trace information for the target redundancy degree mechanical arm, Described second connection weights are set to 0；
The general expression of the Jacobian matrix equation that the equation construction unit builds is specifically as follows：
Wherein
JiThe Jacobian matrix of target redundancy degree mechanical arm i is represented,WithRespectively JiSingle order led with second-order time Number；The joint velocity vector of target redundancy degree mechanical arm i is represented,WithRespectivelySingle order and second time derivative；Expression connects the numbering of the mechanical arm that weights are 1 with first between target redundancy degree mechanical arm i；AijRepresent target The weight matrix of redundancy mechanical arm i, each element in the weight matrix is target redundancy degree mechanical arm i and redundancy machine The first connection weights between tool arm j；ρiRepresent the second connection weights of target redundancy degree mechanical arm i；δi=ri-rirpFor described Positional information, riIt is the position of the end effector of target redundancy degree mechanical arm i, rirpIt is default target redundancy degree mechanical arm i Distance vector of the end effector relative to the intended reference point；It is the velocity information,It is target redundancy degree The speed of the end effector of mechanical arm i；It is the acceleration information,For the end of target redundancy degree mechanical arm i is held The acceleration of row device；rdIt is the desired locations of the intended reference point,It is the desired speed of the intended reference point,For institute State the expectation acceleration of intended reference point；c0＞ 0, c1＞ 0 and c2＞ 0 is the parameter of control algolithm convergence rate, its more big then generation Watch convergence rate is faster.
Further, the control signal determining module 505 can specifically include：
Second determining unit, for setting performance indications for impact degree norm minimum, the Jacobian matrix equation, Determine that quadratic form is excellent under the constraint of the joint angles limit, the joint velocity limit, the joint velocity limit and the joint impact degree limit Change result；
Converting unit, for the quadratic form optimum results to be converted into standard quadratic programming；
Unit is solved, for being solved to the standard quadratic programming, solving result is obtained；
Control signal determining unit, the control for determining the target redundancy degree mechanical arm according to the solving result is believed Number.
Further, the quadratic form optimization that the control signal determining module is used is specifically as follows：
Cause that the first formula is minimized under the first constraints；
First constraints includes：
Jacobian matrix equality constraint
Joint angles limiting constraint
Joint velocity limiting constraint
Joint velocity limiting constraint
Joint impact degree limiting constraint
First formula is
Wherein, the transposition of subscript T representing matrixs and vector；Represent that the joint angles of target redundancy degree mechanical arm i are upper and lower Limit；The joint velocity bound of target redundancy degree mechanical arm i is represented,Represent that the joint of target redundancy degree mechanical arm i accelerates Degree bound,Represent the joint impact degree bound of target redundancy degree mechanical arm i.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with Realize by another way.For example, device embodiment described above is only schematical, for example, the unit Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, for example multiple units or component Can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.It is another, it is shown or The coupling each other for discussing or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces Close or communicate to connect, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme 's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is to realize in the form of SFU software functional unit and as independent production marketing or use When, can store in a computer read/write memory medium.Based on such understanding, technical scheme is substantially The part for being contributed to prior art in other words or all or part of the technical scheme can be in the form of software products Embody, the computer software product is stored in a storage medium, including some instructions are used to so that a computer Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to preceding Embodiment is stated to be described in detail the present invention, it will be understood by those within the art that：It still can be to preceding State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these Modification is replaced, and does not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.

Claims (10)

1. a kind of cooperative control method of the multi-redundant mechanical arm system based on impact degree, it is characterised in that many redundancies Degree mechanical arm system includes more than two redundancy mechanical arms, and described two redundancy mechanical arms above are in communication topology figure Middle connection；
The control method includes：
At least one redundancy mechanical arm is target redundancy degree mechanical arm in determining the redundancy mechanical arm more than described two；
Obtain position, speed and the acceleration information of the adjacent redundant degree mechanical arm of the target redundancy degree mechanical arm, the phase The adjacent connection in communication topology figure with the target redundancy degree mechanical arm of adjacent redundancy mechanical arm；
The reference point trace information of the target redundancy degree mechanical arm is obtained, the reference point trace information is joined by default target The desired trajectory of examination point and the intended reference point determines；
Institute is built according to default rule according to the position, speed and acceleration information, and the reference point trace information State the corresponding Jacobian matrix equation of target redundancy degree mechanical arm；
In the Jacobian matrix equation, the joint angles limit, the joint velocity limit, the joint velocity limit and joint impact degree Under the constraint of the limit, the control letter of the target redundancy degree mechanical arm is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR Number；
The target redundancy degree mechanical arm is controlled according to the control signal, the redundancy mechanical arm more than described two is realized Distributed collaboration is moved.
2. cooperative control method according to claim 1, it is characterised in that described according to the position, speed and acceleration Degree information, and the reference point trace information according to default rule build the target redundancy degree mechanical arm it is corresponding it is refined can Specifically included than matrix equality：
The corresponding weight matrix of the target redundancy degree mechanical arm is built, each element in the weight matrix is the target Corresponding first connection respectively between redundancy mechanical arm and each mechanical arm in described two redundancy mechanical arms above Weights；
Acquisition state according to the reference point trace information determines the second connection weights of the target redundancy degree mechanical arm；
Connected according to the position, speed and acceleration information, the reference point trace information, the weight matrix and described second Logical weights build the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm.
3. cooperative control method according to claim 2, it is characterised in that the first connection weights pass through following steps It is determined that：
Between the target redundancy degree mechanical arm and the target redundancy degree mechanical arm itself first is connected into weights to be set to 1；
Between the target redundancy degree mechanical arm and adjacent redundant degree mechanical arm first is connected into weights and is set to 1；
The non-self and non-adjacent redundancy in redundancy mechanical arm by the target redundancy degree mechanical arm with described two above The first connection weights between degree mechanical arm are set to 0；
The acquisition state according to the reference point trace information determines the second connection power of the target redundancy degree mechanical arm Value is specifically included：
Judge whether the target redundancy degree mechanical arm gets the reference point trace information；
If the target redundancy degree mechanical arm gets the reference point trace information, the described second connection weights are set to 1；
If the target redundancy degree mechanical arm does not get the reference point trace information, the described second connection weights are set It is 0；
The general expression of the Jacobian matrix equation is：
J i θ ··· i = - c 0 F i - c 1 F · i - c 2 F ·· i - J ·· i θ · i - 2 J · i θ ·· i ,
Wherein
JiThe Jacobian matrix of target redundancy degree mechanical arm i is represented,WithRespectively JiSingle order and second time derivative；Table Show the joint velocity vector of target redundancy degree mechanical arm i,WithRespectivelySingle order and second time derivative； Expression connects the numbering of the mechanical arm that weights are 1 with first between target redundancy degree mechanical arm i；AijRepresent target redundancy degree machine The weight matrix of tool arm i, each element in the weight matrix for target redundancy degree mechanical arm i and redundancy mechanical arm j it Between first connection weights；ρiRepresent the second connection weights of target redundancy degree mechanical arm i；δi=ri-rirpFor the position is believed Breath, riIt is the position of the end effector of target redundancy degree mechanical arm i, rirpIt is the end of default target redundancy degree mechanical arm i Distance vector of the actuator relative to the intended reference point；It is the velocity information,It is target redundancy degree mechanical arm The speed of the end effector of i；It is the acceleration information,It is the end effector of target redundancy degree mechanical arm i Acceleration；rdIt is the desired locations of the intended reference point,It is the desired speed of the intended reference point,It is the target The expectation acceleration of reference point；c0＞ 0, c1＞ 0 and c2＞ 0 is the parameter of control algolithm convergence rate, and its more big then representative is restrained Speed is faster.
4. cooperative control method according to any one of claim 1 to 3, it is characterised in that described in the Jacobi Under the constraint of matrix equality, the joint angles limit, the joint velocity limit, the joint velocity limit and the joint impact degree limit, root Determine that the control signal of the target redundancy degree mechanical arm is specifically included according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR：
Setting performance indications are impact degree norm minimum, in the Jacobian matrix equation, the joint angles limit, joint velocity Quadratic form optimum results are determined under the constraint of the limit, the joint velocity limit and the joint impact degree limit；
The quadratic form optimum results are converted into standard quadratic programming；
The standard quadratic programming is solved, solving result is obtained；
The control signal of the target redundancy degree mechanical arm is determined according to the solving result.
5. cooperative control method according to claim 3, it is characterised in that the quadratic form is optimized for：
Cause that the first formula is minimized under the first constraints；
First constraints includes：
Jacobian matrix equality constraint
Joint angles limiting constraint
Joint velocity limiting constraint
Joint velocity limiting constraint
Joint impact degree limiting constraint
First formula is
Wherein, the transposition of subscript T representing matrixs and vector；Represent the joint angles bound of target redundancy degree mechanical arm i； The joint velocity bound of target redundancy degree mechanical arm i is represented,Represent that the joint velocity of target redundancy degree mechanical arm i is upper and lower Limit,Represent the joint impact degree bound of target redundancy degree mechanical arm i.
6. a kind of Collaborative Control device of the multi-redundant mechanical arm system based on impact degree, it is characterised in that many redundancies Degree mechanical arm system includes more than two redundancy mechanical arms, and described two redundancy mechanical arms above are in communication topology figure Middle connection；
The control device includes：
Target mechanical arm determining module, at least one redundancy machinery in the redundancy mechanical arm for determining described two above Arm is target redundancy degree mechanical arm；
Data obtaining module, the position of the adjacent redundant degree mechanical arm for obtaining the target redundancy degree mechanical arm, speed and Acceleration information, the adjacent redundant degree mechanical arm adjacent connection in communication topology figure with the target redundancy degree mechanical arm；
Reference point trace information acquisition module, the reference point trace information for obtaining the target redundancy degree mechanical arm is described Reference point trace information is determined by the desired trajectory of default intended reference point and the intended reference point；
Equation builds module, for according to the position, speed and acceleration information, and the reference point trace information according to Default rule builds the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm；
Control signal determining module, in the Jacobian matrix equation, the joint angles limit, the joint velocity limit, joint Under the constraint of acceleration limiting and the joint impact degree limit, the mesh is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR Mark the control signal of redundancy mechanical arm；
Mechanical arm control module, for controlling the target redundancy degree mechanical arm according to the control signal, make it is described two with On redundancy mechanical arm realize distributed collaboration move.
7. Collaborative Control device according to claim 6, it is characterised in that the equation builds module and specifically includes：
Weight matrix construction unit, for building the corresponding weight matrix of the target redundancy degree mechanical arm, the weight matrix In each element be the target redundancy degree mechanical arm with it is described two more than redundancy mechanical arm in each mechanical arm Between respectively it is corresponding first connection weights；
First determining unit, for determining the target redundancy degree mechanical arm according to the acquisition state of the reference point trace information Second connection weights；
Equation construction unit, for according to the position, speed and acceleration information, the reference point trace information, the power Weight matrix connects weights with described second and builds the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm.
8. Collaborative Control device according to claim 7, it is characterised in that the weight matrix construction unit is specifically wrapped Include：
First setup module, for by between the target redundancy degree mechanical arm and the target redundancy degree mechanical arm itself One connection weights are set to 1；
Second setup module, for first between the target redundancy degree mechanical arm and adjacent redundant degree mechanical arm to be connected into power Value is set to 1；
3rd setup module, for by the target redundancy degree mechanical arm with it is described two more than redundancy mechanical arm in it is non- The first connection weights between itself and non-adjacent redundancy mechanical arm are set to 0；
First determining unit is specifically included：
Judge module, for judging whether the target redundancy degree mechanical arm gets the reference point trace information；
4th setup module, if getting the reference point trace information for the target redundancy degree mechanical arm, will be described Second connection weights are set to 1；
5th setup module, if not getting the reference point trace information for the target redundancy degree mechanical arm, by institute State the second connection weights and be set to 0；
The general expression of the Jacobian matrix equation that the equation construction unit builds is：
J i θ ··· i = - c 0 F i - c 1 F · i - c 2 F ·· i - J ·· i θ · i - 2 J · i θ ·· i ,
Wherein
JiThe Jacobian matrix of target redundancy degree mechanical arm i is represented,WithRespectively JiSingle order and second time derivative；Table Show the joint velocity vector of target redundancy degree mechanical arm i,WithRespectivelySingle order and second time derivative； Expression connects the numbering of the mechanical arm that weights are 1 with first between target redundancy degree mechanical arm i；AijRepresent target redundancy degree machine The weight matrix of tool arm i, each element in the weight matrix for target redundancy degree mechanical arm i and redundancy mechanical arm j it Between first connection weights；ρiRepresent the second connection weights of target redundancy degree mechanical arm i；δi=ri-rirpFor the position is believed Breath, riIt is the position of the end effector of target redundancy degree mechanical arm i, rirpIt is the end of default target redundancy degree mechanical arm i Distance vector of the actuator relative to the intended reference point；It is the velocity information,It is target redundancy degree mechanical arm The speed of the end effector of i；It is the acceleration information,It is the end effector of target redundancy degree mechanical arm i Acceleration；rdIt is the desired locations of the intended reference point,It is the desired speed of the intended reference point,It is the target The expectation acceleration of reference point；c0＞ 0, c1＞ 0 and c2＞ 0 is the parameter of control algolithm convergence rate, and its more big then representative is restrained Speed is faster.
9. the Collaborative Control device according to any one of claim 6 to 8, it is characterised in that the control signal determines Module is specifically included：
Second determining unit, for setting performance indications for impact degree norm minimum, in the Jacobian matrix equation, joint Quadratic form optimization knot is determined under the constraint of angle limit, the joint velocity limit, the joint velocity limit and the joint impact degree limit Really；
Converting unit, for the quadratic form optimum results to be converted into standard quadratic programming；
Unit is solved, for being solved to the standard quadratic programming, solving result is obtained；
Control signal determining unit, the control signal for determining the target redundancy degree mechanical arm according to the solving result.
10. Collaborative Control device according to claim 8, it is characterised in that what the control signal determining module was used Quadratic form is optimized for：
Cause that the first formula is minimized under the first constraints；
First constraints includes：
Jacobian matrix equality constraint
Joint angles limiting constraint
Joint velocity limiting constraint
Joint velocity limiting constraint
Joint impact degree limiting constraint
First formula is
Wherein, the transposition of subscript T representing matrixs and vector；Represent the joint angles bound of target redundancy degree mechanical arm i； The joint velocity bound of target redundancy degree mechanical arm i is represented,Represent that the joint velocity of target redundancy degree mechanical arm i is upper and lower Limit,Represent the joint impact degree bound of target redundancy degree mechanical arm i.
CN201710084020.5A 2017-02-16 2017-02-16 The cooperative control method and device of multi-redundant mechanical arm system based on impact degree Expired - Fee Related CN106926238B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710084020.5A CN106926238B (en) 2017-02-16 2017-02-16 The cooperative control method and device of multi-redundant mechanical arm system based on impact degree

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710084020.5A CN106926238B (en) 2017-02-16 2017-02-16 The cooperative control method and device of multi-redundant mechanical arm system based on impact degree

Publications (2)

Publication Number Publication Date
CN106926238A true CN106926238A (en) 2017-07-07
CN106926238B CN106926238B (en) 2019-06-14

Family

ID=59423172

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710084020.5A Expired - Fee Related CN106926238B (en) 2017-02-16 2017-02-16 The cooperative control method and device of multi-redundant mechanical arm system based on impact degree

Country Status (1)

Country Link
CN (1) CN106926238B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107398903A (en) * 2017-09-04 2017-11-28 杭州电子科技大学 The method for controlling trajectory of industrial machinery arm actuating station
CN112605992A (en) * 2020-12-09 2021-04-06 中山大学 Method and device for controlling cyclic motion of double-arm robot
CN112621761A (en) * 2020-12-24 2021-04-09 中国科学院重庆绿色智能技术研究院 Communication time lag-oriented mechanical arm system multi-stage optimization coordination control method
CN112720481A (en) * 2020-12-22 2021-04-30 中山大学 Mechanical arm minimum motion planning and control method based on abrupt degree
CN113442139A (en) * 2021-06-29 2021-09-28 山东新一代信息产业技术研究院有限公司 Robot speed control method and device based on ROS operating system
CN114474066A (en) * 2022-03-04 2022-05-13 全爱科技(上海)有限公司 Intelligent humanoid robot control system and method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1426840A1 (en) * 2002-12-02 2004-06-09 United Technologies Corporation Real-time quadratic programming for control of dynamical systems
CN104281099A (en) * 2014-10-28 2015-01-14 湘潭大学 NURBS direct interpolation method and device with processing characteristics considered
CN105538327A (en) * 2016-03-03 2016-05-04 吉首大学 Redundant manipulator repeated motion programming method based on abrupt acceleration
CN105563490A (en) * 2016-03-03 2016-05-11 吉首大学 Fault tolerant motion planning method for obstacle avoidance of mobile manipulator
CN106411206A (en) * 2016-09-21 2017-02-15 北京精密机电控制设备研究所 Master-slave type electromechanical servo cooperative motion control system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1426840A1 (en) * 2002-12-02 2004-06-09 United Technologies Corporation Real-time quadratic programming for control of dynamical systems
CN104281099A (en) * 2014-10-28 2015-01-14 湘潭大学 NURBS direct interpolation method and device with processing characteristics considered
CN105538327A (en) * 2016-03-03 2016-05-04 吉首大学 Redundant manipulator repeated motion programming method based on abrupt acceleration
CN105563490A (en) * 2016-03-03 2016-05-11 吉首大学 Fault tolerant motion planning method for obstacle avoidance of mobile manipulator
CN106411206A (en) * 2016-09-21 2017-02-15 北京精密机电控制设备研究所 Master-slave type electromechanical servo cooperative motion control system

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107398903A (en) * 2017-09-04 2017-11-28 杭州电子科技大学 The method for controlling trajectory of industrial machinery arm actuating station
CN107398903B (en) * 2017-09-04 2020-06-30 杭州电子科技大学 Track control method for industrial mechanical arm execution end
CN112605992A (en) * 2020-12-09 2021-04-06 中山大学 Method and device for controlling cyclic motion of double-arm robot
CN112720481A (en) * 2020-12-22 2021-04-30 中山大学 Mechanical arm minimum motion planning and control method based on abrupt degree
CN112621761A (en) * 2020-12-24 2021-04-09 中国科学院重庆绿色智能技术研究院 Communication time lag-oriented mechanical arm system multi-stage optimization coordination control method
CN113442139A (en) * 2021-06-29 2021-09-28 山东新一代信息产业技术研究院有限公司 Robot speed control method and device based on ROS operating system
CN114474066A (en) * 2022-03-04 2022-05-13 全爱科技(上海)有限公司 Intelligent humanoid robot control system and method
CN114474066B (en) * 2022-03-04 2024-02-20 全爱科技(上海)有限公司 Intelligent humanoid robot control system and method

Also Published As

Publication number Publication date
CN106926238B (en) 2019-06-14

Similar Documents

Publication Publication Date Title
CN106926238A (en) The cooperative control method and device of the multi-redundant mechanical arm system based on impact degree
CN106842907A (en) A kind of cooperative control method and device of multi-redundant mechanical arm system
CN105573253B (en) A kind of industrial robot group control system and method
CN101927495B (en) Repetitive motion planning method for redundant manipulator
Lou et al. Optimal design of parallel manipulators for maximum effective regular workspace
CN110104216A (en) A kind of collaboration paths planning method for kinematic redundancy dual-arm space robot
CN109591020A (en) A kind of the distributed collaboration control method and device of the adaptive navigability optimization of multi-redundant mechanical arm
CN106826828A (en) A kind of cooperative control method and device of multi-redundant mechanical arm system
CN107490965A (en) A kind of multiple constraint method for planning track of the free floating devices arm in space
CN102126219B (en) Fault-tolerant type motion planning method of redundancy mechanical arm
CN111923039B (en) Redundant mechanical arm path planning method based on reinforcement learning
CN106156425B (en) A kind of Universal-purpose quick Kinematic Model method of modular mechanical arm
CN108638065A (en) A kind of explosive-removal robot both arms cooperative control system
CN102825603A (en) Network teleoperation robot system and time delay overcoming method
CN104493826A (en) Neural network control-based reload robot position controller
CN112571452B (en) Robot rigidity design method and terminal based on rigidity model
CN104760041A (en) Barrier escaping motion planning method based on impact degree
CN107685343A (en) A kind of Mechanical transmission test parameter calibration configuration optimization method
CN1603068A (en) Control system for multi robot carrying based on wireless network
CN113146617A (en) Flexible robot dynamics modeling and track following control method and device
Muller Stiffness control of redundantly actuated parallel manipulators
CN111399537B (en) Distributed unmanned aerial vehicle dynamic formation switching method based on waypoints
Ibrahim et al. Control systems in robotics: A review
CN112276952B (en) Robust simultaneous stabilization method and system for multi-robot system
CN113741192B (en) Time-lag multi-agent system constraint fault-tolerant control method based on switchable topology

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190614

Termination date: 20200216