Distributed mobile mechanical arm task layered optimization control method based on generalized coordinates

A technology of moving manipulators and generalized coordinates, which is applied in the field of hierarchical optimization control of distributed mobile manipulator tasks, can solve the problems of large computing burden, redundancy sacrifice of main task occupation, etc., to reduce computing burden and system communication burden , strong invulnerability and robustness

Active Publication Date: 2018-12-25
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

The few fully distributed control methods need to design observers to obtain the information of all moving manipulators, which is a large computational burden for distributed systems
For task priority control, the mainstream approach is to design the end-effector cooperative control as the main task in the task space, and design the secondary tasks such a

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  • Distributed mobile mechanical arm task layered optimization control method based on generalized coordinates
  • Distributed mobile mechanical arm task layered optimization control method based on generalized coordinates
  • Distributed mobile mechanical arm task layered optimization control method based on generalized coordinates

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[0037] The present invention will be described in detail below with reference to the drawings and embodiments.

[0038] In this example, the mobile robot arm is formed by the robot arm fixed on the mobile base. The transport target is an object of a given shape. The collaborative control task can be divided into primary and secondary tasks according to the task priority. The primary task is the multi-mobile robot arm through the end execution The robot cooperates to move the target object so that the center of the target object can track a given reference trajectory. The secondary task is to control the joint posture and move the base to keep the sum of all manipulator arms at a large value and move the base to switch formations to adapt to complex obstacles. surroundings.

[0039] The present invention provides a distributed mobile robotic arm task hierarchical optimization control method based on generalized coordinates. The position of the end effector and the joint angle are in...

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Abstract

The invention provides a distributed mobile mechanical arm task layered optimization control method based on generalized coordinates. A main task is that a plurality of mobile mechanical arms carry atarget object through cooperation of an end executor to enable the center of the target object to track a given reference trajectory, and a subtask is that joint angles and a mobile base formation arecontrolled to avoid obstacles through the sum of the maximum operability of all the mechanical arms; and by introducing the generalized coordinates, the tasks are divided into optimization layers andcontrol layers, reasonable allocation of redundancy in the control process is realized, and conflict with the main task is avoided while the subtask is completed. The fully-distributed control methodcan be used for realizing cooperative control over the multiple distributed mobile mechanical arms.

Description

technical field [0001] The invention relates to the technical field of multi-agent control, in particular to a distributed mobile manipulator task hierarchical optimization control method based on generalized coordinates. Background technique [0002] In recent years, with the urgent need for large-scale and complex tasks in the industry, multi-manipulator collaboration has attracted widespread attention in various fields. Due to the limited working space of traditional fixed manipulators, more and more people are adopting mobile manipulators with fixed manipulators mounted on mobile bases to achieve complex collaborative tasks. The mobile manipulator can take advantage of the larger range of motion of the mobile base and the flexible operation ability of the manipulator to adapt to complex and changeable tasks. However, its high redundancy and kinematic nonlinear constraints make the cooperative control of multiple mobile manipulators very interesting. Great difficulty. ...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664B25J9/1682
Inventor 方浩吴楚曾宪琳陈杰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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