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A multi-legged cooperative control method for an underwater multi-legged robot system

A multi-legged robot and collaborative control technology, which is 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, and achieve flexible movement Requirements for flexibility, flexible changes, and the effect of avoiding communication burden

Active Publication Date: 2022-01-18
HARBIN ENG UNIV
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  • 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, and there is communication delay between different mechanical feet, and propose a multi-legged cooperative control method for underwater multi-legged robot system

Method used

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  • A multi-legged cooperative control method for an underwater multi-legged robot system
  • A multi-legged cooperative control method for an underwater multi-legged robot system
  • A multi-legged cooperative control method for an underwater multi-legged robot system

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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,...

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Abstract

The invention discloses a multi-leg cooperative control method for an underwater multi-leg robot system, which belongs to the technical field of underwater multi-leg robot cooperative control. The invention aims to solve the problem of communication delay between different mechanical legs of a multi-legged robot affected by the operation speed of the processor and the signal transmission path. The present invention introduces a logarithmic barrier Lyapunov function so that the trajectory tracking error of the system always meets the set error limit requirements; only the communication topology between different mechanical feet is required to be a directed graph, and only part of the followers can obtain The information of the navigator is enough, which avoids the communication burden caused by the global information; choosing the input signal source as the virtual navigator makes the navigator change more flexible and meets the robot's requirements for motion flexibility. The invention is suitable for the cooperative motion control of underwater multi-legged robots.

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

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Application Information

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Patent Type & Authority Patents(China)
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
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