Multi-agent-based track tracing control method of reconfigurable modular flexible manipulator

Abstract

The invention provides a multi-agent-based track tracing control method of a reconfigurable modular flexible manipulator, and relates to the field of reconfigurable modular flexible manipulator control. A reconfigurable modular flexible manipulator dynamic model is described to be a set of a crosslinking joint agent sub-system, model building of the single-joint agent flexible manipulator system is achieved, a linear combination of a joint motor corner and a flexible modal variable is used as an output of the flexible manipulator system, and the single-joint flexible manipulator system is decomposed to two parts of an input-output sub-system and a zero dynamic sub-system by input-output linearization. Approximate linearization of the zero dynamic sub-system is performed at a balancing point, a design parameter output by the system is defined again by reasonable selection, so that the zero dynamic sub-system of the flexible manipulator system is gradually stable at a position near to the balancing point, the whole flexible manipulator system is enabled to be gradually stable, and the tracing requirement of the manipulator sub-system on expected track is met.

Description

technical field [0001] The invention relates to the control field of reconfigurable modular flexible manipulators, in particular to a trajectory tracking control method for reconfigurable modular flexible manipulators based on multi-agents. Background technique [0002] Modular reconfigurable manipulators with the characteristics of high flexibility, short design cycle, high reliability, low cost and easy maintenance have been widely researched and applied in laboratory research, aerospace, nuclear industry, military and other fields. The reconfigurable modular manipulator has standard interfaces and modules, and can recombine and configure its own configuration according to different task requirements without redesigning the controller. In addition, the joints of the reconfigurable modular manipulator also include communication, drive, control, transmission and other units, so that the reconfigured manipulator has better adaptability to the new working environment. Therefo...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problems that the reconfigurable modular flexible manipulator increases the flexibility effect of the joints and connecting rods during the movement process, the structure is deformed, the accuracy of task execution is reduced, and the reusability is low. A reconfigurable modular flexible manipulator trajectory tracking control method, the method regards the single-joint subsystem of the flexible manipulator as an agent, first designs the single-joint intelligent body controller of the flexible manipulator, and then controls multiple joints according to different working conditions Carry out serial reorganization to meet the needs of different application fields, which is convenient and fast, with high trajectory tracking accuracy and no need to redesign the controller; this method realizes the reconfigurable flexible manipulator to gradually track the desired trajectory, and the tracking error is convergent and bounded

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