Self-adaptive forward output consistent safety controller for multi-single-arm manipulator

Abstract

The invention relates to a self-adaptive forward output consistent safety controller for a multi-single-arm manipulator, which is characterized in that self-adaptive Iamp is adopted for N follower single-arm manipulators with unknown dynamics based on a leader single-arm manipulator with an expected trajectory; according to the technology I, an uncertain equivalent estimator is designed, a failure fault caused by an actuator fault is processed, and the negative influence of the failure fault is overcome; meanwhile, a distributed output consistent controller is designed for each follower single-arm manipulator by utilizing a self-adaptive forward technology, so that the design difficulty of the controllers is reduced, and a self-adaptive Iamp is introduced; the technology I improves the radial basis function neural network, and improves the approximation performance of the neural network to unknown dynamics. Besides, a dynamic trigger mechanism is adopted to design a leader information estimator, continuous monitoring of neighbor information is avoided, the communication frequency between the single-arm manipulators is reduced, unknown dynamic states in the system can be effectively processed through the whole design, faults of an actuator can be resisted, and the reliability of the system is improved. And the design difficulty of the controller is reduced, and the communication frequency and precision control among the single-arm manipulators are reduced.

Description

technical field [0001] The invention relates to a multi-single-arm manipulator adaptive forward output consistent safety controller, which belongs to the technical field of industrial process control. Background technique [0002] With the continuous development of science and technology, multi-single-arm manipulators appear as a powerful tool in modern assembly line production work. The single-arm manipulator has the limitations of poor flexibility and low efficiency. In the relatively large handling, installation, maintenance and welding work, the single-arm manipulator has shown certain limitations in some aspects such as information collection, control and processing, and Because the multi-single-arm manipulator has strong coordination operation flexibility and large load capacity, it can complete tedious and diverse task requirements. Therefore, it is of great significance to study the multi-single-arm manipulator cooperation system, especially in the multi-agent system...

AI Technical Summary

Problems solved by technology

The single-arm manipulator has the limitations of poor flexibility and low efficiency. In the relatively large handling, installation, maintenance and welding work, the single-arm manipulator has shown certain limitations in some aspects such as information collection, control and processing, and Because multi-single-arm manipulators have strong coordination operation flexibility and large load capacity, they can complete tedious and diverse task requirements. Therefore, it is of great significance to study multi-single-arm manipulator cooperation systems, especially in multi-agent systems. The design of a consistent output controller for a single-arm manipulator is of great significance, however, its relatively cumbersome control problem is a difficult problem

In practical applications, the output consistent control of multi-single-arm manipulators cannot achieve precise control of output consistency due to the nonlinear uncertainty in each single-arm manipulator system, and the existence of "differential explosion" in the inversion technology "problem, so the research on multi-single-arm manipulator adaptive forward output consistent safety controller with actuator failure has theoretical research value and engineering application value

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