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Self-adaptive fuzzy force tracking control method based on multi-robot cooperative operation

An adaptive fuzzy, multi-robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of increasing difficulty in force control, difficulty in establishing a perfect environment, etc., to improve response speed, shorten response time, reduce The effect of the conditions on which the algorithm is applied

Active Publication Date: 2020-11-17
HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
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Problems solved by technology

[0003] However, for unstructured environments, the environment during contact operations may be different materials or unknown materials, or curved surfaces with unknown shapes, or more complex and changeable contact environments. For environments with various unknown characteristics, it is necessary to establish The perfect environment is very difficult, so the difficulty of force control is also greatly increased

Method used

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  • Self-adaptive fuzzy force tracking control method based on multi-robot cooperative operation
  • Self-adaptive fuzzy force tracking control method based on multi-robot cooperative operation
  • Self-adaptive fuzzy force tracking control method based on multi-robot cooperative operation

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Embodiment 1

[0063] An adaptive fuzzy force tracking control method based on multi-robot cooperative operation, such as Figure 1-3 shown, including the following steps:

[0064] Step 1: According to the position information of the target operator, according to the position constraints formed by the closed chain, the constraint equations of the coordinated position of the end of each robot are obtained respectively, so as to obtain the expected pose of the end of each robot;

[0065] Step 2: Solve the inverse kinematics according to each robot, obtain the joint rotation angle control commands required for the coordinated operation of each robot, and obtain the current expected angle of each joint of each robot itself;

[0066] Step 3: Establish the admittance control model, equate the force at the end of each robot to the input position, and equate the force error at the end of each robot to the attitude increment, and perform force tracking control of multiple robots;

[0067] Step 4: In...

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Abstract

The invention provides a self-adaptive fuzzy force tracking control method based on multi-robot cooperative operation. The method comprises the steps of 1, through position information of a target operation object, according to position constraint formed by a closed chain, solving a constraint equation of the tail end coordination position of each robot to obtain the tail end expected pose of eachrobot; 2, according to each robot, carrying out inverse kinematics solving, and solving joint rotation angle control instructions needed for executing cooperative operation of each robot to obtain the expected angle of each current joint of each robot; 3, establishing an admittance control model, and carrying out force tracking control over multiple robots; and 4, introducing the learning rate eta into the established admittance control model, carrying out self-adaptive adjustment on eta through a fuzzy controller according to dynamic changes of the target operation object, and carrying out force tracking control over the multiple robots. When the multiple robots carry out cooperative operation under closed chain constraint, the robots can compensate for tracking errors in time, and forcetracking precision is improved.

Description

technical field [0001] The invention belongs to the technical field of multi-robot control systems, and in particular relates to an adaptive fuzzy force tracking control method based on multi-robot cooperative operation. Background technique [0002] With the complexity and diversification of industrial production tasks, multi-robot collaborative systems have shown stronger operational capabilities, more flexible system structures, and stronger collaboration capabilities. Therefore, multi-robot collaboration has become an important challenge in robot control. In addition, with the development of force control technology, classical force control strategies have been widely used in applications where the environmental information is determined or known, such as impedance control or hybrid control position force coordination control. [0003] However, for unstructured environments, the environment during contact operations may be different materials or unknown materials, or cu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1664B25J9/1682
Inventor 李兵李志森黄海林肖斐
Owner HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
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