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Distributed adaptive coordinated control method for multi-manipulator systems

A technology of coordinated control and coordinated controller, applied in the direction of adaptive control, general control system, control/regulation system, etc., to solve parameter uncertainty, improve universality, and improve flexibility.

Active Publication Date: 2017-02-15
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0004] Aiming at the nonlinear multi-manipulator system with uncertain parameters, the present invention solves the problem that both the rotation angle and the angular velocity of the system can achieve consistent and synchronous control when the communication time lag is considered under the topological structure of the directed switching communication network, and provides multiple Distributed Adaptive Coordinated Control Method for Manipulator System

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  • Distributed adaptive coordinated control method for multi-manipulator systems
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specific Embodiment approach

[0037] In order to further illustrate the technical solution of the present invention, in conjunction with the accompanying drawings, the specific implementation of the present invention is as follows:

[0038] The invention provides a distributed self-adaptive coordination control method of a multi-manipulator system, and the specific steps are as follows:

[0039] The first step is to establish the motion model of the nonlinear multi-manipulator system with uncertain parameters:

[0040] The motion equation of each manipulator system is expressed by a nonlinear Euler-Lagrange equation with uncertain parameters, and its parameters satisfy the properties of boundedness, antisymmetry and parameter linearization. The dynamic model of multi-manipulator system It can be written as the following formula (1):

[0041]

[0042] Among them, τ i (t)∈R m Refers to the control torque of the i-th manipulator system; q i (t)∈R m , and respectively represent the rotation angle, ...

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Abstract

The invention discloses a distributed adaptive coordinated control method for multi-manipulator systems. With the system, a plurality of Euler-Lagrange equations are used for expressing non-linear multi-manipulator systems having uncertain parameters. Under the circumstance that system communication network switching and communication delay are taken into consideration, rotating angles and angular speeds of all manipulator system joints are coordinated and controlled in a distributed mode by using control moments; and consistency and synchronization of the rotation angels of the non-linear multi-mechanical arm systems having uncertain parameters are realized by using a distributed adaptive coordination control algorithm, wherein the rotating angles and angular speeds are zero. According to the method, adverse effects on system performances by practical factors like uncertain parameters in the multi-manipulator systems, a directed switching communication network topological structure and communication delay can be eliminated; and thus stable and effective operation of the multi-manipulator systems can be realized.

Description

technical field [0001] The invention belongs to the technical field of intelligent machinery and robot control, and in particular relates to a distributed self-adaptive coordinated control method for a multi-manipulator system. Background technique [0002] Since the advent of the robotic arm in the 20th century, it has developed rapidly and is widely used in military, industrial, medical, aviation rescue and other fields. With the development of large-scale and complex modern industrial process control systems, the traditional single manipulator control system has been difficult to meet the needs of actual working conditions, and the coordinated control and cooperation of multi-manipulator systems can not only reduce the complexity of the system and The cost can also improve work efficiency, making the research on multi-manipulator systems a hot spot in the field of robotics in recent years. However, the actual manipulator system, like other mechanical systems such as mani...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 姜玉莲王申全李元春
Owner CHANGCHUN UNIV OF TECH
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