A Robot Cooperative Control System Based on Rigid Formation

By using a rigid formation-based robot collaborative control system, an undirected topological graph is constructed using image acquisition and multi-agent perception modules. The relative distance and angular error are calculated, and a controller is built to drive the motors, forming a directional rigid formation that conforms to the shape of the object. This solves the problems of object damage and attitude control in robot collaborative handling and achieves stable and efficient object handling.

CN117434940BActive Publication Date: 2026-06-30BEIHANG UNIV
2 Cites 0 Cited by

Patent Information

Application Number
CN202311193694.0
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-09-15
Publication Date
2026-06-30
Estimated Expiration
2043-09-15

AI Technical Summary

Technical Problem

Existing technologies are prone to damaging the objects being transported during collaborative robotic handling and fail to effectively control the object's posture.

Method used

A robot collaborative control system based on rigid formation is adopted, including an image acquisition module, a multi-agent perception module, a motion control module, and a drive module. By constructing an undirected perception topology map and calculating relative distance and angular error, a controller is constructed to drive the motor to perform tasks, forming a directional rigid formation consistent with the shape of the object.

Benefits of technology

It avoids pulling and damaging objects during handling and can effectively control the object's posture, achieving stability and accuracy in multi-robot collaborative handling.

✦ Generated by Eureka AI based on patent content.
Patent Text Reader

Abstract

A robot collaborative control system based on rigid formation includes: an image acquisition module for acquiring the geometry of the object to be transported; an undirected perception module for confirming the desired formation based on the geometry of the object and constructing an undirected perception topology graph; calculating the relative distance and relative angle between agents based on the global coordinates of each agent in the undirected perception topology graph, and confirming the adjacency relationship; a motion control module for receiving control commands and constructing a controller based on the relative distance error, relative angle error, and adjacency relationship between agents; and a drive module for generating torque according to the controller to drive the motor to perform the task. This invention uses a distributed rigid formation control method to form a directional rigid formation at the grasping end that matches the shape of the object being transported, thereby avoiding pulling damage to the object during transport and effectively controlling the posture of the object during transport.
Need to check novelty before this filing date? Find Prior Art