机器人的控制方法、装置、设备及存储介质
By constructing forward kinematic equations and performing operability analysis, the forward kinematic equations and operability expressions of the robot are optimized. Combined with noise interference expressions, the target operability of the redundant robot is optimized using a cooperative neurodynamics method. This solves the problem of error introduction in existing technologies and achieves higher control accuracy and anti-interference capability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- LANZHOU UNIV
- Filing Date
- 2022-09-27
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies have errors in optimizing the operability of redundant robots, resulting in insufficient robot flexibility and control precision, especially in noisy environments, making it difficult to achieve efficient task completion.
By constructing the robot's forward kinematics equations and maneuverability expressions, and combining them with noise interference expressions, a collaborative neurodynamics method is used to optimize the robot's target maneuverability. The maneuverability is maximized directly under the constraints of the forward kinematics equations, and the optimal joint angle vector is obtained to control the robot's motion.
It improves the robot's control precision and anti-interference ability, enhances the robot's flexibility and obstacle avoidance ability, and ensures that it can effectively complete tasks in noisy environments.
Smart Images
Figure CN117250882B_ABST