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Centralized predictive control-based multi-robot cooperative handling control method

A multi-robot, predictive control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., to achieve the effect of reducing complexity

Active Publication Date: 2022-01-25
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As a result, multi-robot collaboration emerged as the times require, and for the operation of multi-robots, information interaction and mutual cooperation between robots are required to complete complex operations

Method used

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  • Centralized predictive control-based multi-robot cooperative handling control method
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  • Centralized predictive control-based multi-robot cooperative handling control method

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] A multi-robot collaborative handling control method based on centralized predictive control, said method comprising the following steps:

[0043] 1) Based on the impedance control strategy, establish the dynamic model of the end effector of each robotic arm of the multi-robot and the center of mass of the transported object; the impedance control model is expressed in the following form:

[0044]

[0045] Among them, ξ i is the current coordinates of the end effector of the robot arm i, is the current velocity of the end effector of the manipulator i, is the current acceleration of the end effector of manipulator i, ξ i,d is the desired coordinate of the end effector of the manipulator i, is the desired velocity of the end effector of the manipulator i, is the expected acceleration of the end effector of manipulator i, M i is the inertia coefficient...

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Abstract

The invention discloses a centralized predictive control-based multi-robot cooperative handling control method. The method comprises the steps: establishing a dynamic model for all mechanical arms of multiple robots and the mass center of a gripped object based on an impedance control strategy; establishing a cooperative handling closed-chain model; and designing a centralized model prediction controller. The invention provides a centralized predictive control method mainly aiming at the cooperation problem in multi-robot handling, and the cooperative handling work of multiple robots on a common object can be achieved by solving the system optimization problem on line.

Description

technical field [0001] The invention relates to the technical field of multi-robot cooperative control, and relates to a multi-robot cooperative handling control method based on centralized predictive control. Background technique [0002] With the development of science and technology, robots are used more and more widely, whether it is in the service industry, manufacturing industry or agriculture, robots can be seen everywhere. The mechanical arm is the main actuator of the robot, and its application performance largely determines the performance of the robot. In complex industries, single robots have been criticized for their operational limitations. As a result, multi-robot collaboration emerged as the times require, and for the operation of multi-robots, information interaction and mutual cooperation between robots are required to complete complex operations. [0003] Model Predictive Control (MPC) is a multivariable control strategy, which usually includes three par...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1628
Inventor 刘安东周时钎朱华中徐建明张文安倪洪杰
Owner ZHEJIANG UNIV OF TECH