Reconfigurable mechanical arm control method and system oriented to unknown environmental constraints

An unknown environment and control method technology, applied in the field of reconfigurable manipulator control methods and systems, can solve problems such as dependence, limited control accuracy, and inaccurate models, and achieve the effect of precise control

Active Publication Date: 2021-07-13
CHANGCHUN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the traditional force/position control method, the main idea is to convert the force control into the position control of the corresponding end with the mass-spring-damper model. Due to the inaccuracy of the model, the control accurac

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  • Reconfigurable mechanical arm control method and system oriented to unknown environmental constraints
  • Reconfigurable mechanical arm control method and system oriented to unknown environmental constraints
  • Reconfigurable mechanical arm control method and system oriented to unknown environmental constraints

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Embodiment Construction

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0061] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0062] In the case of unknown environmental constraints, only using known parameter information to estimate the uncertainty of the constrained environment is an important prerequisite for realizing the precise forc...

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Abstract

The invention discloses a reconfigurable mechanical arm control method and system oriented to unknown environmental constraints. The method comprises the following steps of constructing a dynamic model of a multi-degree-of-freedom reconfigurable mechanical arm in a constraint space; establishing a state space equation of the reconfigurable mechanical arm by adopting a self-adaptive estimation parameter method based on the dynamic model; constructing a performance index function and a Hamilton-Jacobi-Bellman function by adopting a multi-information fusion function based on the state space equation; and estimating the performance index function through a neural network evaluation model by adopting an adaptive dynamic programming algorithm, and solving the Hamilton-Jacobi-Bellman function by adopting a strategy iterative algorithm based on the performance index estimation function to obtain an approximate optimal force and position tracking control strategy. According to the reconfigurable mechanical arm control method and the system oriented to the unknown environmental constraints, accurate control over the reconfigurable mechanical arm under the unknown environmental constraints can be achieved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a reconfigurable manipulator control method and system facing unknown environmental constraints. Background technique [0002] Reconfigurable manipulator is a kind of manipulator with standard modules and interfaces, which can recombine and configure its own configuration according to different task requirements. According to the concept of modularization, the joint module of the reconfigurable manipulator includes communication, driving, control, sensing and other units, which can make the manipulator change its own configuration according to the task under different external environments and constraints, so that the reconfigurable The latter robotic arm can have better adaptability to the new working environment. It is precisely because of such structural characteristics that the reconfigurable robotic arm has the ability to integrate the latest machinery, sensors, and computer co...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1633B25J9/163
Inventor 马冰董博张振国安天骄卢曾鹏
Owner CHANGCHUN UNIV OF TECH
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