Method and device for task dynamic tracking of redundant robotic arm with multiple fixed bases

Abstract

A task dynamic tracking method for multiple fixing base redundancy mechanical arms comprises the steps that the distance between the fixing base redundancy mechanical arms in a multi-fixing base redundancy mechanical arm system and a target is obtained, according to the connecting relation of the fixing base redundancy mechanical arm topology connection diagram and exchange information of every two adjacent fixing base redundancy mechanical arms, according to the distance between the fixing base redundancy mechanical arms and the target and the exchange information between every two adjacent fixing base redundancy mechanical arms, the fixing base redundancy mechanical arm closest to the target is obtained; and an end effector of the fixing base redundancy mechanical arm closest to the target is started, and the target is tracked. The method can effectively adapt to communication between the fixing base redundancy mechanical arms in the large-scale environment, and cooperation of the multi-fixing base redundancy mechanical arm system is finished.

Description

technical field [0001] The invention belongs to the field of intelligent control, and in particular relates to a task dynamic tracking method and device of a redundant mechanical arm with multiple fixed bases. Background technique [0002] The redundant manipulator has the characteristic that the degree of freedom is greater than the minimum degree of freedom required by the task space, and is widely used in national economic production activities such as equipment manufacturing, product processing, and machine operations. After years of research and development, redundant manipulators have gradually moved towards practical use. With the advancement of science and technology, the multi-fixed base redundant manipulator system has gradually played a huge role in the fields of medical surgery, automobile assembly, etc., and has shown a wide range of application prospects. For example, the famous Da Vinci surgical robot can be regarded as a redundant robotic arm system with mul...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a task dynamic tracking method for multi-fixed base redundant manipulators, to solve the problem of excessive communication load caused by the large number of fixed base redundant manipulators in the prior art. It is difficult to communicate, which leads to the inability to share information anytime and anywhere, and the problem that the multi-fixed base redundant manipulator system cannot be effectively completed.

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