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Consistent control method of multi-mechanical arm system based on disturbance observer

A technology of interference observer and control method, applied in the field of tracking control of manipulators and consistent control of multi-manipulator systems, can solve problems such as fluctuation, feedback control time lag, system performance degradation, etc., to reduce costs, simplify structure, The effect of improving reliability

Active Publication Date: 2019-11-26
CAPITAL NORMAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the unknown external disturbance of the manipulator, it poses a severe challenge to the cooperative control of the manipulator. If the external disturbance is not considered in the study of the multi-manipulator cooperative control problem, the designed controller will often lead to system failure. performance degradation, or even failure
[0003] In order to study the unknown external disturbance of the manipulator, many scholars at home and abroad have conducted a lot of research. At present, there are mainly methods such as feedback control and robust control. However, feedback control has problems such as time lag and fluctuation. Robust control is suitable for Uncertainty under small perturbations

Method used

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  • Consistent control method of multi-mechanical arm system based on disturbance observer
  • Consistent control method of multi-mechanical arm system based on disturbance observer
  • Consistent control method of multi-mechanical arm system based on disturbance observer

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Embodiment Construction

[0047] like figure 1 As shown, the consistent control method of the multi-manipulator system based on the disturbance observer of the present invention, the specific steps are as follows:

[0048] 1. Establish a dynamic model of the system

[0049] The dynamic model of n subsystems of a multi-manipulator system with unknown external disturbances is established as follows:

[0050]

[0051] Among them, q i ,v i ∈R 2 are the position and velocity of the i-th robotic arm, T i ∈R 2 Indicates the joint input torque, d i1 , d i2 ∈R 2 is the disturbance moment of the i-th manipulator, It is related to the centripetal force, Coriolis force and gravitational moment of the i-th robotic arm, J i (q i )∈R 2×2 is the symmetric positive definite inertia matrix of the i-th robotic arm.

[0052] The dynamic model of the navigator manipulator can be described as:

[0053]

[0054] Among them, q 0 ,v 0 ∈R2 are the position and velocity of the robot arm leader, respectivel...

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Abstract

The invention relates to a consistent control method of a multi-mechanical arm system based on a disturbance observer. A distributed consistent control algorithm of the multi-mechanical arm system isdesigned for the multi-mechanical arm system subjected to external disturbance. The consistent control method comprises the following steps: first, designing the disturbance observer for the multi-mechanical arm system subjected to external disturbance to inhibit disturbance and improve the control precision; and second, designing the distributed consistent control method by combining the designeddisturbance observer. The method is suitable for tracking control of the mechanical arm in applications of industrial assembly, safe explosion protection and aerospace. The method solves the problemof distributed consistent control of the multi-mechanical arm system with unknown external disturbance, improves the control precision and the stability of the system, and is wide in application field.

Description

technical field [0001] The invention relates to a consistent control method for a multi-manipulator system, in particular to a consistent control method for a multi-manipulator system based on a disturbance observer, which can be applied to tracking control of a manipulator. Background technique [0002] With the rise of artificial intelligence and robotics, the collaborative control of multi-manipulators has attracted the attention of industries, aerospace and other fields. However, due to the unknown external disturbance of the manipulator, it poses a serious challenge to the cooperative control of the manipulator. If the external disturbance is not considered in the study of the multi-manipulator cooperative control problem, the designed controller will often lead to system failure. Performance degradation, or even failure. [0003] In order to study the unknown external disturbance of the manipulator, many scholars at home and abroad have conducted a lot of research. At...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1628B25J9/1694
Inventor 任长娥付全新李桂露袁超
Owner CAPITAL NORMAL UNIVERSITY