Self-adaptive coordination control method of multi-robot-arm system

Abstract

The invention provides a self-adaptive coordination control method of a multi-robot-arm system. The self-adaptive coordination control method comprises the steps that the position, the speed and nominal gravitational torque of an individual robot arm at the current moment and the position and the speed of an adjacent robot arm at the current moment are obtained; recognition parameters are determined according to whether the individual robot arm has a judgment result of reserved expecting position information or not; a weighing adjacent matrix and a positive definite gain matrix of the multi-robot-arm system are obtained; estimated values of uncertain parameters of the individual robot arm are determined according to the speed of the individual robot arm at the current moment; the individual robot arm is controlled according to the position, the speed and nominal gravitational torque of the individual robot arm at the current moment, the position and the speed of the adjacent robot arm at the current moment, the recognition parameters, the weighing adjacent matrix, the positive definite gain matrix and the estimated values of the uncertain parameters. The self-adaptive coordination control method guarantees that the multi-robot-arm system can complete given tasks in the environment where uncertain external interference exists, and is high in control precision.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an adaptive coordination control method for a multi-robot arm system. Background technique [0002] At present, the coordinated control method of multi-robot arms has been more and more widely used in practical problems. This is mainly due to the fact that many practical application tasks are composed of many sub-parts, which are often complex, and it is difficult for a single robot arm to complete or meet the desired task completion requirements, and the coordination and cooperation between multi-robot arms can avoid such problems. problem, and can achieve a very good completion effect. In addition, through the cooperation among multi-robot arms, the work efficiency in the operation process can be improved, and then when the working environment changes or some robot arms fail, the multi-robot arm system can still complete the scheduled tasks through its own coordination a...

AI Technical Summary

Problems solved by technology

However, the existing coordinated control methods for multi-robot arm systems all require a lot of expected assumptions, such as the robot arm is free from external interference or known external interference, etc. However, there are often many uncertain factors or interference factors in practical applications. Causes the robot arm to be affected by uncertain external disturbances

Therefore, the existing multi-robot arm systems usually cannot complete the given task well when the robot arm is affected by uncertain factors in practice, and the control accuracy is not high

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