Automatic switching control method for decentralization and centralization of mobile manipulators

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...

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 face of For tasks with different complexities, it is impossible to properly select decentralized control or centralized control, and at the same time, performance indicators such as control accuracy and real-time performance cannot be guaranteed.

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