High reliability control method and system in multi-robot system
A multi-robot and control method technology, applied in transmission systems, instruments, data processing applications, etc., can solve problems such as difficulty in satisfying robustness, complex and changeable organizational structure of multi-robot systems, and impossibility of implementing robot fault-tolerant control, etc., to achieve Realize the effect of dynamic control and cost reduction
Active Publication Date: 2019-06-21
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
There are two reasons for this. First, industrial robots are generally standardized products, and fault-tolerant control of a single robot cannot be implemented. Second, the organizational structure of a multi-robot system is complex and changeable. Even if a high-quality fault-tolerant controller is designed, It is also difficult to meet the requirements of robustness
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[0045] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be pointed out that for those of ordinary skill in the art, a number of modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
[0046] The present invention is mainly a high-reliability control technology for a multi-robot system. First, a multi-robot system working group division and physical topology design are proposed for the controlled system, which is the root of the high-reliability system. After the robot has a physical structure, a controller needs to be controlled. Based on the above-mentioned ideas, the present invention proposes a high-reliability control method and system in a multi-rob...
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The invention provides a high reliability control method and a high reliability control system in a multi-robot system. The method comprises steps of robot topology design, fault prediction design and fault recovery design, wherein for the step of robot topology design, robot topology comprises a work group formed by work robots and a standby work group formed by standby robots, positions of the standby robots and the work robots are replaceable, for the step of fault prediction design, in combination with health statues of the robots in the system, fault prediction for the work robots is carried out by utilizing a Markov model predication method; for the step of fault recovery, when a work robot is in fault, a standby robot is controlled to replace the fault work robot. As is shown in a result of a simulation system, device processing production tasks can be smoothly and cooperatively accomplished under the no-fault condition or under the fault condition, the work robot in fault can be replaced by the standby robot to accomplish operation in the system, and thereby seamless joint for device processing production can be realized.
Description
Technical field [0001] The present invention relates to the field of automatic control, and in particular, to a high-reliability control method and system in a multi-robot system, which is applied to a multi-robot system. Through fault prediction, topology arrangement and troubleshooting control of the multi-robot system, Realize the high reliability control of the multi-robot system. Background technique [0002] Since the 1970s, industrial robots have become an important technology in the industrial field. Worldwide, the application of industrial robots has set off a climax. With the continuous increase of labor costs and the continuous increase of enterprise labor costs, industrial robots have objective development needs. At the same time, the application fields of industrial robots have gradually expanded from the automotive industry to the electronics manufacturing, food and drug and plastic industries. In order to complete complex procedures, industrial robots work toget...
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IPC IPC(8): H04L29/08H04L12/28
CPCG06Q10/04G06Q10/06313
Inventor 刘树伟付庄吴优
Owner SHANGHAI JIAOTONG UNIV