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Kinematics Modeling and Distributed Control Method of Multi-Mobile Manipulator Cooperative Handling System

A technology of mobile manipulators and handling systems, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to guarantee the consistency and stability of multi-mobile manipulators, and the inability to effectively establish kinematic expressions.

Active Publication Date: 2022-07-29
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Based on this, it is necessary to provide a kinematics modeling and distributed control method for the multi-mobile manipulator cooperative handling system to solve the problem that the traditional modeling method cannot effectively establish a kinematic expression and cannot guarantee the consistency and stability of the multi-mobile manipulator cooperative operation. method

Method used

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  • Kinematics Modeling and Distributed Control Method of Multi-Mobile Manipulator Cooperative Handling System
  • Kinematics Modeling and Distributed Control Method of Multi-Mobile Manipulator Cooperative Handling System
  • Kinematics Modeling and Distributed Control Method of Multi-Mobile Manipulator Cooperative Handling System

Examples

Experimental program
Comparison scheme
Effect test

example 1

[0170] Example one, combining Figure 1 to Figure 11 The kinematic modeling process of the multi-mobile manipulator cooperative handling system is described.

[0171] The cooperative handling system consists of 6 mobile manipulators. Realized in the 15m × 5m site, the object to be transported along the x g Move 9m, around y g The operation of rotating 10°, the length, width and height of the object to be conveyed is 5m×0.3m×0.45m, and the mass is a long board with a mass of 25kg.

[0172] Step 1: Set initial conditions.

[0173] Initial pose of the object being carried: P o，int =[-5m 2.5m 1.3157m 0° 0° 0°];

[0174] The initial pose of the mobile platform: P 1，int =[x g y g φ g ]=[-6.8m 3m 0°], P 2，int =[-5m 3m 0°], P 3，int =[-3.2m 3m 0°], P 4，int =[-3.2m 2m 0°], P 5，int =[-5m 2m 0°], and P 6，int =[-6.8m 2m0°].

[0175] The initial joint angle of the robot arm: θ 1，int =θ 2，int =θ 3，int =[90° 0° 0° 0° 0° 0°], θ 4，int =θ 5，int =θ 6，int =[-90° 0° 0° 0° 0° ...

example 2

[0209] Example 2 is the result analysis of the handling scenario described in Example 1.

[0210] like Figure 5 As shown, when t=0s, the 6 mobile robots and the transported object are in the initial state, when t=50s, the 6 mobile robots coordinate and cooperate to complete the horizontal movement of the transported object for a certain distance, when t = 100s, the transported object reaches the designated At the handling position (4, 2.5, 1.31), when t=190s, 6 mobile robots coordinate and cooperate to complete the handling operation of rotating the object to be handled by 10°.

[0211] Image 6 and Figure 7 It is the pose change map of the object being carried, and in order to better identify the specific position and pose change, Image 6 For the position change diagram of the object to be transported, within t=0 ~ 50s, the object to be transported is at x g The direction moves, within t=50~100s, the mobile manipulator and the mobile platform coordinate and cooperate t...

example 3

[0213] Example 3, as in Figure 12 As shown, it is an application scenario in which three mobile manipulators implement handling and assembly operations on objects.

[0214] The cooperative handling system consists of 3 mobile robots. In the field of 15m × 5m, the object to be transported is extended by x g Move 10m, and then assemble the transported object with the parts on the workbench. The transported object is a flat plate with a length, width and height of 1.8m×1m×0.45m and a mass of 8kg.

[0215] In the example: the initial pose of the object being carried: P s,int =[-5m 2.5m 1.3157m 0° 0° 0°];

[0216] The initial pose of the mobile platform: P 1,int =[x 1,int y 1,int φ 1,imt ]=[-6.25m 2.5m 0°], P 2,int =[-5m 3.35m 0°], and P 3,int =[-5m 1.65m 0°].

[0217] The initial joint angle of the robot arm: θ 1,int =[180° 0° 0° 0° 0° 0°], θ 2,int = [90° 0° 0° 0° 0°0°] and θ 3,int =[-90° 0° 0° 0° 0° 0°].

[0218] The grab points are:

[0219] P 1,gra =[x 1,gra...

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Abstract

The invention relates to a kinematics modeling method for a multi-mobile manipulator cooperative handling system, comprising the following steps: defining key nodes and a coordinate system; using a kinematic chain to describe the pose transformation between adjacent key nodes, and the transformation of key nodes in the coordinate system Then, the kinematic chain between non-neighbor nodes is obtained, and the kinematic chain between non-neighbor nodes is nonlinearly mapped to obtain the kinematic model of the multi-mobile manipulator cooperative handling system. In addition, a distributed control method for a multi-mobile manipulator cooperative handling system is also provided. The above-mentioned kinematic modeling and distributed control method of the multi-mobile manipulator cooperative handling system realizes the overall analysis and modeling of the system, reduces the computational burden of the system, improves the robustness and invulnerability of the system, and improves the stability and balance of the system Load distribution among mobile robots.

Description

technical field [0001] The invention relates to the field of multi-intelligence control, in particular to a kinematic modeling and distributed control method of a multi-mobile manipulator cooperative handling system. Background technique [0002] In the fields of industrial automation, logistics, and military, fixed-base manipulators are increasingly unable to meet the needs of large-scale workspaces, and mobile manipulators have received extensive attention due to their mobile platform flexibility and mobile manipulator operability. For example, most of the current applications of industrial robots are mainly based on robots working independently at each station. Such robots can only adapt to specific products and working environments, and rely on the special equipment and fixtures provided. However, for many tasks, such independently working robotic manipulations are insufficient. In order to meet the requirements of task complexity, operational intelligence and system fl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1628B25J9/1682
Inventor 汤奇荣徐鹏杰张敬涛崔远哲张琨朱维钟楼
Owner TONGJI UNIV
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