Automatic switching control method for decentralization and centralization of mobile manipulators

A technology for moving manipulators and autonomous switching, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as strong coupling, kinematic redundancy, control accuracy and real-time performance that cannot be guaranteed and cannot be suitable Select issues such as decentralized control and centralized control to achieve the effect of strong operation ability and high control precision

Active Publication Date: 2013-08-14
WUHAN UNIV OF SCI & TECH
View PDF4 Cites 22 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In summary, the existing research on mobile manipulators still has the following problems: the strong coupling and kinematic redundancy between the two subsystems of the movable platform and the manipulator need further research; in the f

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Automatic switching control method for decentralization and centralization of mobile manipulators
  • Automatic switching control method for decentralization and centralization of mobile manipulators
  • Automatic switching control method for decentralization and centralization of mobile manipulators

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0024] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0025] The distributed centralized autonomous switching control method of the mobile robot arm implemented according to the present invention is as follows figure 1 As shown, it mainly includes the following steps:

[0026] A: Establish a world coordinate system and a vehicle-mounted coordinate system for the mobile robot arm to obtain the current pose of the mobile robot arm; the current pose of the mobile robot arm is determined by the sensor device on the platform and the established coordinate system; the world coordinate system Used to determine the position of the mobile robot arm in world coordinates; the vehicle-mounted coordinate system is used to determine the position of the mobile robot arm relative to the mobile robot arm measured by the sensor during the travel.

[0027] The world coordinate system and the vehicle coordinate system established for th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to an automatic switching control method for decentralization and centralization of mobile manipulators. The method includes: firstly, establishing a world coordinate system and a vehicle-mounted coordinate system for the mobile manipulators, and acquiring current poses of the mobile manipulators; secondly, aiming at different control strategies, establishing kinematic and dynamical models for a system; and thirdly designing an automatic decentralization and centralization control switcher, and finally completing established tasks by means of coordination control of the mobile manipulators and a movable platform. Aiming at different control tasks, a reasonable control scheme is selected as either decentralization or centralization, the tasks are guaranteed to be completed smoothly under coordination control between the movable platform and the manipulators, and further control performance of the mobile manipulators is improved under the influences of uncertain factors such as unknown external disturbance, environment time varying and obstacle avoidance. The method can be widely used for application fields of industrial production, medical assistance and the like, and researches on different objects of underwater robots, flying robots and the like can be extended.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a decentralized-centralized autonomous switching control method based on a mobile mechanical arm. Background technique [0002] Since the advent of the robotic arm in the 20th century, the robotic arm has developed rapidly and is widely used in military, industrial and medical aspects. With the advancement of technology in all aspects, the shortcomings of the limited working space of traditional manipulators have become increasingly prominent, making it unable to meet various high-tech needs. Due to the almost infinite working space and high motion redundancy of the mobile manipulator, the research on the mobile manipulator has become a hot spot in the field of robotics in recent years. However, due to the different dynamic characteristics and strong coupling between the manipulator and the movable platform, the research of the mobile manipulator is also one of...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
Inventor 吴怀宇陈雪锋韩涛吴若鸿钟锐张志芬林冠西
Owner WUHAN UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap