Multi-leg cooperative control method for underwater multi-leg robot system

A multi-legged robot, collaborative control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of communication delay, multi-legged robot computing speed and signal transmission path influence, etc., to meet the needs of flexible movement. Sexual requirements, flexibility to change, and the effect of avoiding communication burdens

Active Publication Date: 2019-08-16
HARBIN ENG UNIV
View PDF8 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that multi-legged robots are affected by processor operation speed and signal transmission path

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multi-leg cooperative control method for underwater multi-leg robot system
  • Multi-leg cooperative control method for underwater multi-leg robot system
  • Multi-leg cooperative control method for underwater multi-leg robot system

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0034] Specific implementation mode one: the following combination figure 1 Describe this embodiment mode, a kind of multi-legged cooperative control method of underwater multi-legged robot system described in this embodiment mode, the specific steps of this method include:

[0035] Step 1. Establish dynamic models of all mechanical feet of the underwater multi-legged robot; obtain the control system of the underwater multi-legged robot;

[0036] Step 2. Establish a directed topological structure diagram of the communication relationship between each mechanical foot in the underwater multi-legged robot system described in step 1; the root node of the directed topological structure diagram is the navigator, and each other node is a Mechanical feet, the leader is the control signal source, and one mechanical foot is a follower;

[0037] Step 3, using the distributed observer and the directed topology graph described in step 2 to estimate the state information of the leader obta...

specific Embodiment approach 2

[0044] Specific embodiment two: This embodiment further explains the multi-legged cooperative control method of an underwater multi-legged robot system described in the first embodiment. In this embodiment, all the mechanical parts of the underwater multi-legged robot described in step The method of the dynamic model of the foot is the same, and the dynamic model of the i-th mechanical foot is taken as an example to illustrate, specifically:

[0045]

[0046] Among them, q i is the joint rotation angle of the i-th mechanical foot, i={1,2,....,n}, n is a positive integer, is the joint rotational angular velocity of the i-th mechanical foot, is the joint rotational angular acceleration of the i-th mechanical foot, and q i , R p is a p-dimensional real column vector, τ i Indicates the input control force of the i-th mechanical foot, τ i ∈ R p ,M i (q i ) represents a symmetric positive definite inertia matrix, M i (q i )∈R p×p , R p×p is a real number matrix wi...

specific Embodiment approach 3

[0047] Specific embodiment three: This embodiment further explains the multi-legged cooperative control method of an underwater multi-legged robot system described in embodiment two. In this embodiment, the use of distributed observers described in step three and step two The directed topology graph estimates the state information of the leader obtained by all nodes, and the specific method for obtaining the state information of the leader is as follows:

[0048] Since the kinetic model described in formula (1) satisfies the property:

[0049] Property 1: Matrix is antisymmetric, then there are: for

[0050] Property 2: There are two positive numbers and B make where I p Represents the p×p identity matrix.

[0051] Therefore, the generalized coordinate q of the navigator n+1 Expressed as:

[0052]

[0053] q n+1 = Fv (3)

[0054] Among them, v is the auxiliary state variable of the leader, v∈R m , is the derivative of v, S and F are constant real matrix,...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a multi-leg cooperative control method for an underwater multi-leg robot system, belongs to the technical field of cooperative control of underwater multi-leg robots, and aimsto solve the problem that a communication delay exists among different mechanical legs due to the influence of a processor operation speed and a signal transmission path on a multi-leg robot. A barrier Lyapunov function in a logarithmic form is introduced, so that a trajectory tracking error of the system always meets a set error limit requirement; only a communication topology among the different mechanical legs is required to be a directed graph, and only part of followers can obtain information of a leader, so that the communication burden caused by global knowing of the information is avoided; and an input signal source is selected as a virtual leader, so that the change of the leader is more flexible, and the requirement of the robot on the motion flexibility is met. The method is suitable for cooperative motion control of the underwater multi-leg robot.

Description

technical field [0001] The invention belongs to the technical field of cooperative control of underwater multi-legged robots. Background technique [0002] As a large ocean country, in recent years, my country has vigorously developed the marine economy, and the development and utilization of offshore waters has become increasingly important. Among them, the offshore drilling platform is the carrier of the development and utilization of marine resources, and the research on the safety of the offshore drilling platform is gradually deepening. The daily inspection and maintenance of the offshore drilling platform is very important, but due to the harsh working environment, manual maintenance is very inconvenient. With the advancement of science and technology, more attention has been paid to the research and development of underwater robots. The advantages of multi-legged robots compared with traditional roller or crawler robots have gradually emerged. The design of underwater...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 秦洪德李晓佳孙延超魏彤锦李凌宇牛广智范金龙
Owner HARBIN ENG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap