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Adaptive control method for multiple humanoid robots in case of immeasurable speed

A humanoid robot, self-adaptive control technology, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve the problems of negative impact of system performance, dependence, noise interference, etc.

Active Publication Date: 2018-08-10
青岛格莱瑞智能控制技术有限公司
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Problems solved by technology

Joint velocities of humanoid robots are usually measured by tachometers, however, this is easily disturbed by noise, which can have a significant negative impact on system performance
But unfortunately, the results of the current research on this problem basically need to rely on the system parameters of the robot dynamics

Method used

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  • Adaptive control method for multiple humanoid robots in case of immeasurable speed
  • Adaptive control method for multiple humanoid robots in case of immeasurable speed
  • Adaptive control method for multiple humanoid robots in case of immeasurable speed

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Embodiment Construction

[0074] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0075] The self-adaptive control method of multi-robots in this embodiment under unpredictable speed and limited state includes the following steps:

[0076] An adaptive control method for a plurality of humanoid robots under unmeasurable speed, characterized in that: comprising the following steps:

[0077] Step 1. Establish a mathematical model for multiple humanoid robots to cooperatively grasp objects:

[0078]

[0079] In the formula, Is a joint variable vector, which represents the motion of the manipulator, and N represents the degree of freedom of the manipulator; M(q)∈R mN×mN represents the positive definite symmetric inertia matrix of the manipulator, Represents the Coriolis and centrifugal matrices of the manipulator, G(q)∈R mN Indicates the gravity vector of the manipulator; J e (q)∈R mN×mN Represents the Jacobian matrix of the ma...

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Abstract

The invention discloses an adaptive control method for multiple humanoid robots in the case of an immeasurable speed, which comprises the steps of first, building a mathematical model of the multiplehumanoid robots for cooperatively grasping an object; second, designing a state observer; and third, designing a neural network adaptive controller to control the humanoid robots. According to the invention, influences of driving saturation are eliminated through constructing an auxiliary system in allusion to a humanoid robot system with input saturation; the input of the neural network is enabled to be maintained within a bounded compact set range through introducing an obstacle Lyapunov function, and the normal running of the neural network is ensured; and the state observer is introduced to estimate the speed, the controller design is performed in the case that the speed of the object is immeasurable, and an unknown constant matrix W2 is converted into an unknown scalar virtual parameter c, so that only one adaptive parameter needs to be adjusted online, and the computational burden is greatly reduced.

Description

technical field [0001] The invention relates to the fields of neural network technology and robot system control technology, in particular to a full-state limited self-adaptive control method when the speed cannot be measured. Background technique [0002] Humanoid robots have great application potential in many fields, for example, they can efficiently assist or replace people's work, greatly improving service quality and reducing costs. In industrial applications, humanoid robots have shown great capabilities in parts assembly, transportation, and material reshaping. Among household tasks, humanoid robots can help elderly people make pancakes, make tea and fold laundry. [0003] However, the collaborative control of humanoid robots has huge challenges compared to a single robotic arm. The main obstacle comes from the establishment of a closed kinematic chain mechanism when multiple robotic arms cooperate to handle a load, resulting in a series of constraints on the posit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05B13/02
CPCG05B13/027G05B13/042
Inventor 刘秀兰宋永端张智容赖俊峰
Owner 青岛格莱瑞智能控制技术有限公司
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