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A Bipartite Consistency Quantitative Control Method Applicable to Networked Robot System

A robotic system and quantitative control technology, applied in manipulators, manufacturing tools, etc., can solve problems such as inaccurate information transmission, and achieve the effect of improving work efficiency, strong practicability, and reducing control costs.

Inactive Publication Date: 2021-05-28
CHINA UNIV OF GEOSCIENCES (WUHAN)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention is to provide a two-part consistent quantitative control method suitable for networked robot systems in view of the defects of the existing technology that lead to inaccurate information transmission

Method used

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  • A Bipartite Consistency Quantitative Control Method Applicable to Networked Robot System
  • A Bipartite Consistency Quantitative Control Method Applicable to Networked Robot System
  • A Bipartite Consistency Quantitative Control Method Applicable to Networked Robot System

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Embodiment Construction

[0024] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0025] Please refer to figure 1 , which is the control flow diagram of the control method proposed by the present invention, the current control flow is mainly divided into the following steps:

[0026] S1. Based on the grouping of several sub-robots included in the networked robot system, and construct dynamic modeling:

[0027]

[0028] Among them, M i (q i ) represents a positive definite mass matrix, Denotes the Coriolis matrix and the centrifugal term, g i (q i ) represents the gravitational matrix, d i (t) represents the input disturbance, τ i Indicates control input; q i , with represent the position, velocity and acceleration in the joint space, respectively;

[0029] The current control goal is...

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Abstract

The invention discloses a bipartite consistency quantitative control method suitable for networked robot systems. The beneficial effect of implementing the invention is that firstly, the bipartite consistency control is extended to networked robot systems, and is mainly used in networked robots Practical issues such as system formation and obstacle avoidance; secondly, the present invention considers the quantitative communication interaction between robots (considering logarithmic quantization and uniform quantization at the same time), to reduce communication costs between robots, and to play a certain role in information Confidentiality; Finally, the input disturbance and uncertain control parameters are set in the robot dynamics model to simulate the disturbance of the networked robot system in the actual scene control, so that the control effect is more practical.

Description

technical field [0001] The invention relates to the field of robot intelligent control, and more specifically relates to a bipartite consistency quantitative control method suitable for a networked robot system. Background technique [0002] Consistency control of networked robotic systems has always been the focus of researchers because of its wide application in different fields, such as distributed computing in engineering and computer science, sensor networks, formation control of unmanned vehicles, etc. . Consistency control enables robots to communicate through cooperation to achieve a common state, such as making the car reach the same speed, the aircraft track the same target, and so on. [0003] In a networked robotic system, the dynamics of a manipulator is modeled as an Eulegrangian system with input perturbations and parameter uncertainties. The kinematics and dynamics characteristics of a single manipulator can be expressed by the mathematical model represente...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/00
CPCB25J13/00
Inventor 吴奕德苏鹏丁腾飞葛明峰
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)