移动机械臂的夹持控制方法
By collecting contact force and chassis linear velocity in real time, dynamically calculating motion coupling factors, designing time-varying sliding mode control, and combining it with a dual-delay depth deterministic gradient algorithm to optimize parameters, the problem of mobile robotic arm failure in dynamic environments was solved. This achieved a balance between stability, energy efficiency, and accuracy, and improved the stability and accuracy of gripping operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- INEXBOT
- Filing Date
- 2025-05-08
- Publication Date
- 2026-07-17
AI Technical Summary
Traditional control methods struggle to coordinate the motion relationship between the mobile robotic arm and the chassis in dynamic, unstructured environments, leading to clamping failures or increased energy consumption. Furthermore, it is difficult to balance multi-objective optimization that balances stability, energy efficiency, and accuracy.
By acquiring contact force and chassis linear velocity in real time, dynamically calculating motion coupling factor, designing time-varying sliding mode control, and combining it with a dual-delay depth deterministic strategy gradient algorithm to optimize control parameters, the parameter increment is adjusted through a multi-objective reward function, and outputting joint torque and chassis speed commands.
It significantly improves the stability and accuracy of the mobile robotic arm in gripping operations, suppresses the risk of chassis overturning caused by sudden load changes and external force interference, reduces vibration, and improves path tracking accuracy and system robustness.
Smart Images
Figure CN120395838B_ABST