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

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. ...

AI Technical Summary

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 as maximizing the operation degree and avoiding obstacles and collisions in the zero space of the Jacobian matrix. The advantage of this is that the priority can be well guaranteed when the primary and secondary tasks conflict, but the disadvantage is that when the primary task takes up too much redundancy, the secondary task will be completely sacrificed

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