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

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...

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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

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