Adaptive cooperative impedance control method for contact force of multiple flying mechanical arms and related equipment

Abstract

The invention provides a multi-flying-mechanical-arm contact force self-adaption cooperative impedance control method and related equipment, and relates to the technical field of flying mechanical arm control. The method comprises the steps that according to contact force information of all the mechanical arms, contact force errors and cooperation factors of all the mechanical arms are calculated; according to the contact force error of each mechanical arm, the adjusted impedance parameter of each mechanical arm is obtained; according to the collaboration factors, collaboration errors of all the mechanical arms are calculated; according to the collaborative error, the adjusted expected position of each mechanical arm is obtained; and according to the adjusted expected positions and the adjusted impedance parameters, control instructions of all the mechanical arms are generated, and all the mechanical arms are controlled to move through the control instructions. The method aims at solving the problems that in the prior art, when the multiple flying mechanical arms work cooperatively, the contact force is difficult to control accurately, an effective cooperative control strategy is lacked, and the adaptability to the complex environment is poor, and accurate control over the cooperative work of the multiple flying mechanical arms is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flight manipulator control, in particular to a multi-flight manipulator contact force adaptive collaborative impedance control method and related equipment. BACKGROUND

[0002] With the development of robot technology, the flight manipulator system composed of multi-rotor aircrafts carrying work manipulators has shown great potential in complex environment operations, such as disaster rescue, high-altitude building maintenance, etc. In these scenarios, multiple flight manipulators often need to work together to complete the operation task on the object. The existing multi-flight manipulator collaborative control technology mainly has the following defects and deficiencies: 1. Inaccurate contact force control: During collaborative operation, the contact force between each flight manipulator and the object is difficult to control accurately. Due to the influence of factors such as air flow disturbance and aircraft attitude change, the contact force is prone to fluctuation, resulting in unstable operation, and even possible damage to the object or manipulator.

[0003] 2. Poor collaboration: When multiple flight manipulators operate collaboratively, there is a lack of effective collaborative control strategy, making it difficult to ensure the synchronization of the actions of each manipulator and the balance of the forces. This may cause the object to shake, shift, or other problems during operation, affecting the operation accuracy and efficiency.

[0004] 3. Lack of adaptability: The existing technology lacks the ability to adapt to different shapes, weights, and materials of objects, as well as complex and variable environmental conditions. When the characteristics of the object or the environment change, the performance of the control system will decrease significantly, making it difficult to ensure the smooth progress of collaborative operation.

[0005] There is currently no effective technical solution to the above problems. SUMMARY

[0006] The purpose of the present application is to provide a multi-flight manipulator contact force adaptive collaborative impedance control method and related equipment, aiming to solve the problems of inaccurate contact force control, lack of effective collaborative control strategy, and poor adaptability to complex environments in the existing technology, and to realize accurate control of multi-flight manipulator collaborative operation.

[0007] In a first aspect, the present application provides a multi-flight manipulator contact force adaptive collaborative impedance control method applied to the control system of an aircraft carrying multiple manipulators, comprising the following steps: S1. Obtain sensor data through sensors prearranged on the manipulators; the sensor data includes contact force information of each manipulator; S2. Calculate the contact force error of each manipulator according to the contact force information of each manipulator; S3. dynamically adjusting the impedance parameters of each mechanical arm according to the contact force error of each mechanical arm, to obtain the adjusted impedance parameters of each mechanical arm; S4. calculating the synergy factor of each mechanical arm according to the contact force information of each mechanical arm; S5. calculating the synergy error of all mechanical arms according to the synergy factor; S6. adjusting the expected position of each mechanical arm according to the synergy error, to obtain the adjusted expected position of each mechanical arm; S7. generating the control instruction of each mechanical arm according to the adjusted expected position and the adjusted impedance parameters, and controlling the movement of each mechanical arm through the control instruction.

[0008] The multi-flight mechanical arm contact force self-adaptive synergy impedance control method provided by the application, through the technical scheme, the application is aimed at the flight mechanical arm system composed of the multi-rotor aircraft and the working mechanical arm, in the process of the multi-flight mechanical arm cooperating to grab and operate the object (such as moving, carrying, rising, descending, rotating and the like) in the air, the contact force between each mechanical arm and the object is perceived in real time, the control parameters are dynamically adjusted by using the self-adaptive synergy impedance control algorithm, the accurate synergy control of the contact force of each flight mechanical arm is realized, the working process is ensured to be completed smoothly, and the stability, safety and adaptability of the multi-flight mechanical arm cooperative work are improved.

[0009] Further, the specific steps in step S2 include: The contact force error is calculated according to the following formula: ; Wherein, is the contact force error, is the actual contact force vector in the contact force information, is the expected contact force vector.

[0010] Further, the impedance parameters include an inertia matrix, a damping matrix and a stiffness matrix.

[0011] Further, the specific steps in step S3 include: S31. adjusting the inertia matrix according to the following formula: ; Wherein, is the inertia matrix at the k+1th adjustment, is the inertia matrix at the kth adjustment, is a preset inertia matrix learning rate, is the contact force error at the kth adjustment, is the transpose matrix of the contact force error at the kth adjustment, is a sampling time interval; S32. Adjust the damping matrix according to the following formula: ; wherein, is the damping matrix at the k+1th adjustment, is the damping matrix at the kth adjustment, is the preset damping matrix learning rate. S33. Adjust the stiffness matrix according to the following formula: ; wherein, is the stiffness matrix at the k+1th adjustment, is the stiffness matrix at the kth adjustment, is the preset stiffness matrix learning rate.

[0012] Further, the specific steps in step S4 include: Calculate the synergy factor of each manipulator according to the following formula: ; wherein, is the synergy factor of the ith manipulator, is the actual contact force of the ith manipulator, is the total number of manipulators on the aircraft.

[0013] Further, the specific steps in step S5 include: Calculate the synergy error according to the following formula: ; wherein, is the synergy error, is the total number of manipulators on the aircraft, is the synergy factor of the ith manipulator, is the actual contact force of the ith manipulator, is the average value of the actual contact forces of all manipulators.

[0014] Further, the specific steps in step S6 include: Adjust the desired position of each manipulator according to the following formula: ; wherein, is the desired position of the ith manipulator at the k+1th adjustment, is the desired position of the ith manipulator at the kth adjustment, is the synergy position adjustment coefficient, is the synergy error at the kth adjustment.

[0015] In a second aspect, the present application provides a multi-flight manipulator contact force adaptive cooperative impedance control device, applied to a control system of a flight vehicle carrying multiple manipulators, comprising: A first acquisition module is configured to acquire sensor data through sensors arranged in advance on the manipulators, wherein the sensor data comprises contact force information of each manipulator. A first calculation module is configured to calculate contact force errors of the manipulators according to the contact force information of each manipulator. A first adjustment module is configured to dynamically adjust impedance parameters of the manipulators according to the contact force errors of each manipulator to obtain adjusted impedance parameters of each manipulator. A second acquisition module is configured to calculate a cooperative factor of each manipulator according to the contact force information of each manipulator. A second calculation module is configured to calculate a cooperative error of all manipulators according to the cooperative factor. A second adjustment module is configured to adjust a desired position of each manipulator according to the cooperative error to obtain an adjusted desired position of each manipulator. A generation control module is configured to generate a control instruction of each manipulator according to the adjusted desired position and the adjusted impedance parameters, and control the movement of each manipulator through the control instruction.

[0016] The multi-flight manipulator contact force adaptive cooperative impedance control device provided by the present application dynamically adjusts the control parameters by using the adaptive cooperative impedance control algorithm, realizes the accurate cooperative control of the contact forces of each flight manipulator, ensures the smooth completion of the operation process, and significantly improves the stability, safety and adaptability to different operation environments and object characteristics of the cooperative operation of the multi-flight manipulator.

[0017] In a third aspect, the present application provides an electronic device comprising a processor and a memory, wherein the memory stores computer readable instructions, and when the computer readable instructions are executed by the processor, the steps of the multi-flight manipulator contact force adaptive cooperative impedance control method provided in the first aspect are executed.

[0018] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the multi-flight manipulator contact force adaptive cooperative impedance control method provided in the first aspect are executed.

[0019] From the above, the multi-flight manipulator contact force self-adaptive cooperative impedance control method provided by the application can effectively solve the problems of difficulty in accurately controlling the contact force, lack of effective cooperative control strategy and poor adaptability to complex environments in the prior art when multiple flight manipulators are cooperatively working. Specifically, through adaptive impedance parameter adjustment, the method can dynamically adjust the inertia matrix, damping matrix and stiffness matrix according to the real-time changes of the contact force, so that the control system can quickly adapt to different working environments and object characteristics, significantly improving the accuracy and stability of the contact force control. At the same time, by introducing the cooperation factor and the cooperation error, the balance and action synchronization of the contact forces of multiple flight manipulators are realized, ensuring the stable operation of the object during cooperative work and improving the efficiency and reliability of the cooperative work of multiple flight manipulators. In addition, the method has strong adaptability to objects of different shapes, weights and materials, and complex and variable environmental conditions. Through adaptive adjustment of the control parameters, the smooth cooperative work of multiple flight manipulators in various conditions can be ensured, thereby expanding the application range of the multiple flight manipulator system.

[0020] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or can be learned by practice of the present application according to the embodiments. The objects and other advantages of the present application can be achieved and obtained by the structure specifically pointed out in the written description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 A flow chart of the multi-flight manipulator contact force self-adaptive cooperative impedance control method provided by the embodiment of the present application.

[0022] Figure 2 A structural schematic diagram of the multi-flight manipulator contact force self-adaptive cooperative impedance control device provided by the embodiment of the present application.

[0023] Figure 3 A structural schematic diagram of the electronic device provided by the embodiment of the present application.

[0024] Label explanation: 100, first acquisition module; 200, first calculation module; 300, first adjustment module; 400, second acquisition module; 500, second calculation module; 600, second adjustment module; 700, generation control module; 13, electronic device; 1301, processor; 1302, memory; 1303, communication bus. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0026] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0027] Please refer to Figure 1 , Figure 1 A flowchart of a multi-flight manipulator contact force adaptive cooperative impedance control method. The multi-flight manipulator contact force adaptive cooperative impedance control method is applied to the control system of a flight vehicle carrying multiple manipulators, comprising the following steps: S1. Obtain sensor data through sensors arranged in advance on the manipulators; the sensors arranged on the flight vehicle include force sensors of the manipulators; the sensor data includes contact force information of the manipulators; S2. Calculate contact force errors of the manipulators according to the contact force information of the manipulators; S3. Dynamically adjust impedance parameters of the manipulators according to the contact force errors of the manipulators, to obtain adjusted impedance parameters of the manipulators; S4. Calculate cooperative factors of the manipulators according to the contact force information of the manipulators; S5. Calculate cooperative errors of all the manipulators according to the cooperative factors; S6. Adjust expected positions of the manipulators according to the cooperative errors, to obtain adjusted expected positions of the manipulators; S7. Generate control instructions of the manipulators according to the adjusted expected positions and the adjusted impedance parameters, and control movements of the manipulators through the control instructions; The application is directed to a flight manipulator system composed of a multi-rotor aircraft and a manipulator arm, in the process of multiple flight manipulators cooperatively grabbing and operating objects (such as moving, carrying, lifting, lowering, rotating, etc.) in the air, by real-time sensing the contact force of each manipulator and the object, using an adaptive cooperative impedance control algorithm to dynamically adjust the control parameters, realizing the accurate cooperative control of the contact force of each flight manipulator, ensuring the smooth completion of the operation process, and improving the stability, safety and adaptability of the cooperative operation of multiple flight manipulators. Compared with the prior art, the application has the following innovations: 1. Adaptive impedance parameter adjustment: The adaptive impedance parameter adjustment method proposed in the application can dynamically adjust the inertia matrix, damping matrix and stiffness matrix according to the real-time changes of the contact force, so that the control system can quickly adapt to different operating environments and object characteristics, improving the accuracy and stability of contact force control.

[0028] 2. Effective cooperative control strategy: By introducing a cooperation factor and a cooperation error, the balance and action synchronization of the contact forces of multiple flight manipulators are realized. This strategy can automatically adjust the control parameters according to the contact force information of each manipulator, ensuring stable operation of the object during cooperative operation, and improving the efficiency and reliability of the cooperative operation of multiple flight manipulators.

[0029] 3. Strong adaptability: The method of the application has strong adaptability to objects of different shapes, weights and materials, as well as complex and variable environmental conditions. By adaptively adjusting the control parameters, it can ensure the smooth operation of multiple flight manipulators in various situations, expanding the application range of the multiple flight manipulator system.

[0030] The application realizes the accurate cooperative control of the contact force of each flight manipulator by real-time sensing the contact force of each manipulator and the object, using an adaptive cooperative impedance control algorithm to dynamically adjust the control parameters, ensuring the smooth completion of the operation process, and significantly improving the stability, safety and adaptability of the cooperative operation of multiple flight manipulators to different operating environments and object characteristics.

[0031] For a better understanding of the technical solutions proposed in this application, it is necessary to explain some key terms and implementation environments involved. The "flying vehicle" referred to in this application generally refers to a multi-rotor flying vehicle, which carries multiple "robot arms" that work together to complete tasks such as grasping, carrying, moving, lifting, lowering, or rotating. The "sensor" refers to a force sensor pre-arranged on the robot arm, which is used to obtain real-time "contact force information" between the robot arm and the object. The "impedance parameter" is a key parameter in impedance control, which usually includes the inertia matrix, damping matrix, and stiffness matrix, which together determine the dynamic response characteristics of the robot arm when interacting with the environment. The control method of this application aims to adaptively adjust these parameters to make the robot arm better adapt to changes in the external environment, achieving precise force control and collaborative work.

[0032] The multi-flying robot arm contact force adaptive collaborative impedance control method proposed in this application is the core of achieving precise control of multi-flying robot arm collaborative work through a series of steps.

[0033] First, in step S1, sensor data is obtained through sensors pre-arranged on the robot arm. These sensors are usually force sensors that can sense the contact force between each robot arm and the external environment or object in real time. For example, a three-axis or six-axis force sensor can be installed on the end effector of each robot arm to obtain accurate contact force vectors. These sensor data, especially the contact force information of each robot arm, are the basic input for the subsequent control algorithm.

[0034] Next, in step S2, the contact force error of each robot arm is calculated based on the contact force information of each robot arm. The calculation of contact force error is crucial to evaluate the difference between the current contact force and the desired contact force. For example, the contact force error can be obtained by comparing the actual measured contact force vector with the pre-set desired contact force vector.

[0035] Subsequently, in step S3, the impedance parameters of each robot arm are dynamically adjusted based on the contact force error of each robot arm, obtaining the adjusted impedance parameters of each robot arm. The dynamic adjustment of impedance parameters is an important embodiment of the adaptive ability of this application. For example, the inertia matrix, damping matrix, and stiffness matrix can be updated in real time according to the size and direction of the contact force error through a certain learning rate or adaptive law. This adjustment allows the flexibility or stiffness of the robot arm to be optimized according to the actual contact situation, thereby improving the precision and stability of the contact force control.

[0036] In step S4, the synergy factor of each robotic arm is calculated according to the contact force information of each robotic arm. The introduction of the synergy factor is to quantify the contribution or force proportion of each robotic arm in collaborative work. For example, the synergy factor of a single robotic arm can be calculated by comparing the actual contact force of the robotic arm with the sum of the total contact force of all its robotic arms.

[0037] Further, in step S5, the synergy error of all robotic arms is calculated according to the synergy factor. The synergy error reflects the balance of contact force distribution and the synchronization of action between the robotic arms. For example, the synergy error can be calculated by weighting and summing the synergy factor of each robotic arm with its contact force information, and comparing it with the average value of the actual contact force of all robotic arms.

[0038] Then, in step S6, the expected position of each robotic arm is adjusted according to the synergy error, obtaining the adjusted expected position of each robotic arm. The adjustment of the expected position is to correct the uncoordinated or uneven force problem of each robotic arm in collaborative work. For example, according to the size and direction of the synergy error, the expected position of each robotic arm can be fine-tuned by a synergy position adjustment coefficient to make the action of each robotic arm more synchronized and the contact force more balanced.

[0039] Finally, in step S7, the control instructions of each robotic arm are generated according to the adjusted expected position and the adjusted impedance parameters, and the movement of each robotic arm is controlled through the control instructions. The generation of the control instructions is the bridge to convert the above adjustment results into actual robotic arm movement. For example, the torque or speed instructions required for each robotic arm joint can be calculated by using the adjusted expected position and impedance parameters combined with inverse dynamics or inverse kinematics models, so as to realize accurate control of the robotic arm.

[0040] The multi-flight robotic arm contact force adaptive synergy impedance control method proposed in this application is based on the construction of a closed-loop feedback control system to realize the precise control of contact force and action synchronization of multiple flight robotic arms in collaborative work. When multiple flight robotic arms collaborate to grasp and manipulate objects, first, the contact force information between each robotic arm and the object is obtained in real time through the force sensors prearranged on each robotic arm. These contact force information is sent to the control system to calculate the contact force error of each robotic arm, i.e. the deviation between the actual contact force and the expected contact force.

[0041] Based on these contact force errors, the control system dynamically adjusts the impedance parameters of each robotic arm, including the inertia matrix, the damping matrix and the stiffness matrix. This adaptive adjustment enables the flexibility or stiffness of each robotic arm to be optimized according to the actual contact situation, thereby ensuring stable contact force when interacting with objects and adapting to different working environments and object characteristics.

[0042] Meanwhile, the system also calculates a synergy factor based on the contact force information of each manipulator, and further calculates a synergy error of all manipulators. The synergy factor reflects the contribution proportion of each manipulator in the overall synergistic force, while the synergy error quantifies the balance of contact force distribution and the synchronization of motion among manipulators. When the synergy error exists, it indicates that there may be problems of uneven force or uncoordinated motion among manipulators.

[0043] To solve the synergy error, the control system dynamically adjusts the expected position of each manipulator according to the synergy error. This adjustment aims to fine-tune the motion trajectory of each manipulator to achieve better force balance and motion synchronization in collaborative work. Finally, combined with the adjusted expected position and adjusted impedance parameters, the system generates control instructions for each manipulator. These control instructions are sent to the actuators of the manipulator, so as to accurately control the motion of each manipulator, ensure the stability of the object during operation, and successfully complete the collaborative work task. In this way, the present application realizes the precise collaborative control of the contact force of multiple flying manipulators, significantly improves the stability, safety and adaptability of collaborative work.

[0044] The multi-flying manipulator contact force adaptive synergy impedance control method proposed in the present application exhibits significant progress and innovation in multiple aspects compared to the prior art. Traditional existing multi-flying manipulator collaborative control technology often has difficulty in achieving precise control of contact force and effective collaborative work in the face of complex and variable working environments and object characteristics. For example, when grabbing and carrying objects in the air, due to the influence of external factors such as air flow disturbance and aircraft attitude change, the contact force between each manipulator and the object is prone to fluctuation, resulting in unstable operation process, and even possible damage to the object or manipulator. In addition, existing technology lacks effective strategies to ensure motion synchronization and force balance of each manipulator during collaborative operation, and is prone to problems such as object shaking, deviation or even falling off.

[0045] The present application can dynamically adjust the inertia matrix, damping matrix and stiffness matrix according to the real-time changes of the contact force by introducing an adaptive impedance parameter adjustment mechanism. This adaptive capability enables the control system to quickly adapt to different working environments and object characteristics, thereby significantly improving the precision and stability of contact force control. For example, when the manipulator contacts different hardness or shape objects, the impedance parameters can be automatically adjusted to provide more compliant or more rigid response, ensuring smooth transition and precise maintenance of contact force.

[0046] In addition, the application introduces a synergy factor and a synergy error to construct an effective synergy control strategy. The strategy can automatically adjust the control parameters according to the contact force information of each manipulator, and realize the balance of the contact forces of multiple flying manipulators and the synchronization of actions. For example, when the contact force of a certain manipulator is too large or too small, the synergy error will prompt the system to adjust the desired position of the manipulator, so that the force of the manipulator is more balanced with other manipulators, thereby ensuring the stable operation of the object during the collaborative work. This synergy control strategy significantly improves the efficiency and reliability of the collaborative work of multiple flying manipulators.

[0047] In summary, the method of the application has stronger adaptability to objects of different shapes, weights and materials, and complex and variable environmental conditions. By adaptively adjusting the control parameters and the effective synergy control strategy, the application can ensure the smooth progress of the collaborative work of multiple flying manipulators in various situations, greatly expanding the application range of the multiple flying manipulator system, and providing a more reliable and efficient solution for high-altitude building maintenance, disaster rescue and other complex environmental operations.

[0048] In some embodiments, the specific steps in step S2 include: The contact force error is calculated according to the following formula: ; wherein, is the contact force error, is the actual contact force vector in the contact force information, is the desired contact force vector.

[0049] Specifically, the contact force error refers to the difference between the actual contact force vector and the desired contact force vector, and its purpose is to quantify the deviation between the current contact force and the target contact force, and to provide a basis for subsequent impedance parameter adjustment and synergy control. In practical applications, the actual contact force vector can be obtained in real time by force sensors arranged in advance on the manipulator, and the desired contact force vector can be preset or dynamically planned according to the specific task requirements. For example, when multiple flying manipulators are used to grab and carry an object, the desired contact force vector can be set to the force value required to stably support the object, and adjusted according to the weight, shape of the object and the dynamic changes during the operation.

[0050] The scheme of the present application obtains the contact force error by directly calculating the difference between the actual contact force vector and the expected contact force vector, which can intuitively and accurately reflect the deviation between the force condition of each robot arm when contacting the object and the preset target. This explicit error quantification method provides accurate input for the adaptive adjustment of impedance parameters and the calculation of synergy factors in subsequent steps, ensuring that the control system can make effective decisions and adjustments based on real-time force feedback. In this way, the system can timely discover and correct any deviation between the contact force and the expected value, thereby maintaining the mechanical balance and stability during the operation process.

[0051] Through the above technical solution, the calculation method of the contact force error is clarified, enabling the control system to accurately perceive and quantify the mechanical state of each robot arm when contacting the object. This helps to improve the accuracy and response speed of subsequent adaptive adjustment of impedance parameters, and provides a reliable error signal for the collaborative control between multiple robot arms, thereby enhancing the contact force control precision and stability of the entire multi-flight robot arm system in complex operating environments. This accurate error calculation method is the basis for realizing adaptive collaborative impedance control of multi-flight robot arms, ensuring that the system can respond quickly and appropriately to external environmental changes.

[0052] In some embodiments, the impedance parameters include an inertia matrix, a damping matrix, and a stiffness matrix. The specific steps in step S3 include: S31. Adjust the inertia matrix according to the following formula: ; wherein, is the inertia matrix at the k+1th adjustment, is the inertia matrix at the kth adjustment, is the preset inertia matrix learning rate, is the contact force error at the kth adjustment, is the transpose matrix of the contact force error at the kth adjustment, is the sampling time interval; S32. Adjust the damping matrix according to the following formula: ; wherein, is the damping matrix at the k+1th adjustment, is the damping matrix at the kth adjustment, is the preset damping matrix learning rate; S33. Adjust the stiffness matrix according to the following formula: ; wherein, is the stiffness matrix at the k+1th adjustment, is the stiffness matrix at the kth adjustment, is the preset stiffness matrix learning rate.

[0053] Specifically, the inertia matrix, damping matrix, and stiffness matrix described above are key parameters that describe the interaction characteristics of the robot arm with the environment. The inertia matrix reflects the speed and inertia of the robot arm in response to force during contact; the damping matrix determines the energy dissipation and resistance to speed change of the robot arm during movement; and the stiffness matrix represents the ability of the robot arm to resist deformation when subjected to external force. Dynamic adjustment of these matrices is crucial for achieving precise contact force control. Among them, represents the contact force error at the kth adjustment, and its transpose matrix is the product of provides a direction and size for indicating how to adjust the impedance parameters according to the current error. , and are the preset inertia matrix learning rate, damping matrix learning rate, and stiffness matrix learning rate, respectively, used to control the step size and speed of each adjustment, ensuring the stability and convergence of the adjustment process. is the sampling time interval, used to synchronize the cumulative effect of the error with time, so that the adjustment amount is proportional to the duration of the error.

[0054] The scheme of the present application updates the inertia matrix, damping matrix, and stiffness matrix in an iterative manner by taking the contact force error as the feedback signal. When the system detects an error between the actual contact force and the desired contact force, the error is used to calculate an adjustment term, which is added to the current impedance parameters. For example, if the actual contact force is consistently higher than the desired value, the system will adjust the inertia matrix, damping matrix, and stiffness matrix to make the robot arm exhibit greater compliance when in contact, thereby reducing the contact force. Conversely, if the contact force is too low, the parameters will be adjusted to increase the rigidity. This error-based adaptive adjustment mechanism enables the robot arm to "learn" and adapt to the interaction characteristics with the environment in real time, so that precise contact force control can still be maintained in uncertain or dynamically changing working environments. The introduction of learning rate and sampling time interval further ensures the stability and effectiveness of the adjustment process, avoiding excessive oscillation or insufficient adjustment of the parameters.

[0055] By the above technical solution, since the impedance parameters (inertia matrix, damping matrix and stiffness matrix) can be adaptively adjusted according to the real-time contact force error, the control system can more accurately respond to changes in the external environment and object characteristics. This adaptive adjustment mechanism significantly improves the precision and stability of contact force control, especially when multiple flight manipulators are working together to grasp and manipulate objects of different shapes, weights and materials. The system no longer relies on pre-set fixed parameters, but can dynamically optimize its interaction characteristics with the environment, effectively avoiding excessive or insufficient contact force due to parameter mismatch, improving the safety, reliability and adaptability to complex working environments.

[0056] In some preferred embodiments, assume that a multi-flight manipulator system is working together to grasp and transport an object of unknown weight. In the initial contact stage, the impedance parameters of each manipulator are set to a default set of values. When the manipulators come into contact with the object, the force sensors will obtain real-time contact force information for each manipulator. If there is a significant error between the actual contact force and the desired contact force of a certain manipulator, for example, the actual contact force is too large, the error will be used to update the impedance parameters of the manipulator. Specifically, in each sampling time interval, the inertia matrix, damping matrix and stiffness matrix of the manipulator will be updated according to the above formula. Through this iterative update, the impedance characteristics of the manipulator will gradually adjust so that it becomes more compliant during contact, thereby reducing excessive contact force. As the transport process progresses, even if the center of gravity of the object changes or the environment is disturbed, these adaptive adjustment mechanisms can ensure that the contact force of each manipulator remains within the desired range, thereby ensuring the stability and safety of collaborative work.

[0057] In some embodiments, the specific steps in step S4 include: The collaborative factor of each manipulator is calculated according to the following formula: ; wherein, is the collaborative factor of the i-th manipulator, is the actual contact force of the i-th manipulator, is the total number of manipulators on the aircraft.

[0058] Specifically, the collaborative factor aims to quantify the proportion of the actual contact force of a single manipulator in the total actual contact force of all manipulators. is the force information reflecting the interaction between the manipulator and the object obtained through the force sensor arranged on the manipulator in advance. N represents the total number of manipulators participating in collaborative work, for example, if the aircraft carries two manipulators, N is 2. The formula obtains a dimensionless proportional value reflecting the relative contribution of each manipulator in the overall contact force distribution by dividing the actual contact force of a single manipulator by the sum of the actual contact forces of all manipulators.

[0059] The scheme of the present application calculates the coordination factor through the above formula, which can provide a quantitative basis for subsequent collaborative error calculation. When multiple flight manipulators collaboratively grasp and operate objects, the contact forces between the manipulators and the objects may differ. By calculating the coordination factor of each manipulator, the relative weight of each manipulator in the overall contact force can be clearly understood. This quantitative processing enables the system to accurately assess whether the force distribution among the manipulators is balanced, thereby laying the foundation for subsequent adjustment of the expected positions of the manipulators to achieve precise collaborative control of the contact force. It is precisely due to the accurate calculation of the coordination factor that the assessment of the collaborative error is more accurate, thereby ensuring the effectiveness of the entire collaborative control strategy.

[0060] Through the above technical solution, the present application can provide a clear and standardized way to quantify the force contribution of each manipulator in collaborative work. This precise coordination factor calculation method enables the system to more accurately identify the uneven force distribution among the manipulators, thereby providing reliable data support for subsequent collaborative error calculation and expected position adjustment. As a result, the balance and precision of contact force control during the collaborative work of multiple flight manipulators can be effectively improved, further enhancing the stability, safety, and adaptability of the system in collaborative work.

[0061] In some embodiments, the specific steps in step S5 include: The collaborative error is calculated according to the following formula: ; wherein, is the collaborative error, N is the total number of manipulators on the aircraft, is the coordination factor of the i-th manipulator, is the actual contact force of the i-th manipulator, is the average value of the actual contact forces of all manipulators.

[0062] Specifically, the collaborative error is defined as an index measuring the balance and synchronization of contact force distribution during the collaborative work of multiple manipulators. N represents the total number of manipulators carried on the aircraft, used to determine the range of manipulators participating in collaborative control. is the coordination factor of the i-th manipulator, and its value reflects the relative weight or importance of the manipulator in the overall coordination force distribution. The coordination factor is usually calculated according to the actual contact force of each manipulator to reflect its contribution in the current working state. is the actual contact force generated when the i-th manipulator is in contact with the object, which is obtained through the force sensor arranged in advance on the manipulator. is the average value of the actual contact forces of all manipulators, serving as a reference for measuring the overall contact force level. By comparing the actual contact force of each manipulator with its average value and multiplying it by the corresponding coordination factor, a comprehensive coordination error can be obtained, which quantifies the degree to which the contact force of each manipulator deviates from the ideal coordination state.

[0063] The scheme of the present application can accurately quantify the imbalance of the contact force distribution of multiple flying manipulators during coordinated operation by calculating the coordination error using the above formula. This calculation method compares the actual contact force of each manipulator with the average contact force of all manipulators, thereby identifying the degree to which the contact force of a single manipulator deviates from the overall average level. Further, by introducing the coordination factor to weight the deviation of each manipulator, the relative importance of different manipulators in the coordination task or the impact of their contact force deviation on the overall coordination effect can be more accurately reflected in the calculation of the coordination error. Thus, the coordination error provides key feedback information for subsequent adjustment of the desired positions of the manipulators, ensuring that the system can make fine adjustments according to the actual force distribution, thereby effectively driving the contact forces of the manipulators to be balanced and synchronized, and further improving the stability and accuracy of the coordinated operation of multiple flying manipulators.

[0064] Through the above technical solution, the present application can provide an accurate method for quantifying the coordination state of the contact forces of multiple flying manipulators. This method can generate a representative coordination error by comprehensively considering the actual contact force of each manipulator, the overall average contact force, and the coordination factor of each manipulator. This coordination error not only reflects the overall balance of the contact forces of the manipulators, but also highlights the deviation of the manipulators that have a greater impact on the overall coordination effect through the weighting effect of the coordination factor, thereby providing more accurate and effective basis for subsequent control adjustments. Thus, the scheme of the present application significantly improves the fine level and response speed of contact force control when multiple flying manipulators perform coordinated grasping and operation in complex working environments, ensuring the smooth progress of the operation process and further enhancing the adaptability and reliability of the system.

[0065] In some embodiments, the specific steps in step S6 include: The desired positions of the manipulators are adjusted according to the following formula: ; wherein, is the desired position of the i th manipulator at the k+1 th adjustment, is the desired position of the i th manipulator at the k th adjustment, is the cooperative position adjustment coefficient, is the cooperative error at the k th adjustment.

[0066] Specifically, the desired position refers to the target position or pose of the manipulator in the operation space at the time of adjustment. This desired position is the reference point for the control system to guide the movement of the manipulator. The cooperative position adjustment coefficient is a preset positive value, used to adjust the sensitivity and step size of the cooperative error adjustment to the desired position. Its numerical value determines the response speed and adjustment amplitude of the system to the cooperative error. The cooperative error is the difference between the actual contact force of all manipulators and the average contact force, reflecting the imbalance of the contact force distribution among the manipulators.

[0067] The scheme of the present application dynamically adjusts the desired position of each manipulator in the form of negative feedback by introducing the cooperative error and combining it with the cooperative position adjustment coefficient. When the cooperative error exists, it indicates that the contact force distribution among the manipulators is unbalanced, and the system needs to be adjusted to restore cooperation. By multiplying the cooperative error by a negative cooperative position adjustment coefficient and adding it to the current desired position, the desired position can be adjusted in the direction of reducing the cooperative error. For example, if the contact force of a certain manipulator is too large, causing the cooperative error to deviate from the expected value, its desired position will be adjusted to reduce the contact force of that manipulator, thereby promoting the contact force of all manipulators to tend to be balanced. This desired position adjustment mechanism based on cooperative error can effectively guide each manipulator to maintain the balance of contact force during cooperative operation, avoiding a single manipulator bearing excessive or insufficient load, thereby improving the stability of the overall system.

[0068] Through the above technical solution, the desired position of each manipulator can be adaptively adjusted according to the real-time cooperative error, thereby realizing fine cooperative control of the contact force distribution of multiple flying manipulators. This dynamic adjustment mechanism effectively solves the problem of unstable cooperative operation and uneven contact force distribution caused by fixed desired position or untimely adjustment in traditional methods. Thus, when multiple flying manipulators cooperate to grasp and manipulate objects, the contact force between the manipulators can be more balanced, significantly improving the stability, safety and adaptability of cooperative operation, especially when facing complex and variable environments and objects with different characteristics, the operation can be better maintained smoothly.

[0069] As a specific embodiment, assume that a vehicle system with two robotic arms is handling an irregular object in cooperation. At a certain moment, the contact force information obtained by the sensors shows that the actual contact force of the first robotic arm is significantly greater than that of the second robotic arm, resulting in a positive cooperation error. According to the adjustment formula of the present application, the expected positions of the two robotic arms will be adjusted according to the cooperation error. Specifically, since is positive, and is positive, then will be less than . This means that the system will adjust the expected positions of the two robotic arms to move in the direction of reducing the contact force, or more precisely, in the direction of reducing the imbalance of the contact force. Through this adjustment, the expected position of the first robotic arm will be fine-tuned to reduce its contact force in subsequent control, while the expected position of the second robotic arm may be fine-tuned to slightly "tighten" the grip, thereby achieving redistribution and balance of the contact force. For example, if the contact force of the first robotic arm is too large, its expected position may be fine-tuned to slightly "loosen" the grip on the object, while the expected position of the second robotic arm may be fine-tuned to slightly "tighten" the grip, thereby achieving redistribution and balance of the contact force. This dynamic and adaptive adjustment of the expected position ensures that the two robotic arms can maintain stable cooperative gripping throughout the handling process, avoiding object tilting, sliding or system instability caused by uneven contact force.

[0070] Please refer to Figure 2 , Figure 2 is a multi-flight robotic arm contact force adaptive cooperative impedance control device in some embodiments of the present application, applied to the control system of a vehicle carrying multiple robotic arms. The multi-flight robotic arm contact force adaptive cooperative impedance control device is integrated in the form of a computer program in a back-end control device, comprising: a first acquisition module 100 for acquiring sensor data through sensors prearranged on the robotic arms; the sensor data includes contact force information of each robotic arm; a first calculation module 200 for calculating contact force errors of each robotic arm according to the contact force information of each robotic arm; a first adjustment module 300 for dynamically adjusting the impedance parameters of each robotic arm according to the contact force errors of each robotic arm to obtain adjusted impedance parameters of each robotic arm; a second acquisition module 400 for calculating cooperation factors of each robotic arm according to the contact force information of each robotic arm; a second calculation module 500 for calculating cooperation errors of all robotic arms according to the cooperation factors; The second adjustment module 600 is configured to adjust the expected position of each robot arm according to the cooperative error to obtain an adjusted expected position of each robot arm. The generation control module 700 is configured to generate a control instruction of each robot arm according to the adjusted expected position and the adjusted impedance parameter, and control the movement of each robot arm through the control instruction.

[0071] In some embodiments, the first calculation module 200 is configured to calculate the contact force error of each robot arm according to the contact force information of each robot arm. The contact force error is calculated according to the following formula: ; Wherein, is the contact force error, is the actual contact force vector in the contact force information, is the expected contact force vector.

[0072] In some embodiments, the first adjustment module 300 is configured to dynamically adjust the impedance parameter of each robot arm according to the contact force error of each robot arm to obtain an adjusted impedance parameter of each robot arm. S31. Adjust the inertia matrix according to the following formula: ; Wherein, is the inertia matrix at the k+1th adjustment, is the inertia matrix at the kth adjustment, is a preset inertia matrix learning rate, is the contact force error at the kth adjustment, is the transpose matrix of the contact force error at the kth adjustment, is a sampling time interval; S32. Adjust the damping matrix according to the following formula: ; Wherein, is the damping matrix at the k+1th adjustment, is the damping matrix at the kth adjustment, is a preset damping matrix learning rate; S33. Adjust the stiffness matrix according to the following formula: ; Wherein, is the stiffness matrix at the k+1th adjustment, is the stiffness matrix at the kth adjustment, is a preset stiffness matrix learning rate.

[0073] In some embodiments, the second obtaining module 400 is configured to perform the following steps when calculating the synergy factor of each manipulator according to the contact force information of each manipulator: The synergy factor of each manipulator is calculated according to the following formula: ; Wherein, is the synergy factor of the i th manipulator, is the actual contact force of the i th manipulator, is the total number of manipulators on the aircraft.

[0074] In some embodiments, the second calculating module 500 is configured to perform the following steps when calculating the synergy error of all manipulators according to the synergy factor: The synergy error is calculated according to the following formula: ; Wherein, is the synergy error, is the total number of manipulators on the aircraft, is the synergy factor of the i th manipulator, is the actual contact force of the i th manipulator, is the average value of the actual contact force of all manipulators.

[0075] In some embodiments, the second adjusting module 600 is configured to perform the following steps when adjusting the expected position of each manipulator according to the synergy error to obtain the adjusted expected position of each manipulator: The expected position of each manipulator is adjusted according to the following formula: ; Wherein, is the expected position of the i th manipulator at the k+1 th adjustment, is the expected position of the i th manipulator at the k th adjustment, is the synergy position adjustment coefficient, is the synergy error at the k th adjustment.

[0076] Please refer to Figure 3 , Figure 3A structural schematic diagram of an electronic device provided by the embodiment of the present application, the present application provides an electronic device 13, comprising: a processor 1301 and a memory 1302, the processor 1301 and the memory 1302 are interconnected and communicate with each other through a communication bus 1303 and / or other forms of connecting mechanism (not marked), the memory 1302 stores computer readable instructions executable by the processor 1301, when the electronic device runs, the processor 1301 executes the computer readable instructions, to execute the multi-flight mechanical arm contact force adaptive cooperative impedance control method in any optional implementation manner of the above-mentioned embodiment, to realize the following functions: obtaining sensor data through the sensor arranged in advance on the mechanical arm;The sensor data includes the contact force information of each mechanical arm;According to the contact force information of each mechanical arm, the contact force error of each mechanical arm is calculated;According to the contact force error of each mechanical arm, the impedance parameter of each mechanical arm is dynamically adjusted, and the adjusted impedance parameter of each mechanical arm is obtained;According to the contact force information of each mechanical arm, the cooperation factor of each mechanical arm is calculated;According to the cooperation factor, the cooperation error of all mechanical arms is calculated;According to the cooperation error, the expected position of each mechanical arm is adjusted, and the adjusted expected position of each mechanical arm is obtained;According to the adjusted expected position and the adjusted impedance parameter, the control instruction of each mechanical arm is generated, and the movement of each mechanical arm is controlled through the control instruction.

[0077] The embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to execute the multi-flight mechanical arm contact force adaptive cooperative impedance control method in any optional implementation manner of the above-mentioned embodiment, to realize the following functions: obtaining sensor data through the sensor arranged in advance on the mechanical arm;The sensor data includes the contact force information of each mechanical arm;According to the contact force information of each mechanical arm, the contact force error of each mechanical arm is calculated;According to the contact force error of each mechanical arm, the impedance parameter of each mechanical arm is dynamically adjusted, and the adjusted impedance parameter of each mechanical arm is obtained;According to the contact force information of each mechanical arm, the cooperation factor of each mechanical arm is calculated;According to the cooperation factor, the cooperation error of all mechanical arms is calculated;According to the cooperation error, the expected position of each mechanical arm is adjusted, and the adjusted expected position of each mechanical arm is obtained;According to the adjusted expected position and the adjusted impedance parameter, the control instruction of each mechanical arm is generated, and the movement of each mechanical arm is controlled through the control instruction.

[0078] The computer readable storage medium can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0079] In the embodiments of the present application, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, another division manner can be used. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, devices or units, and can be electrical, mechanical or other forms.

[0080] In addition, the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, some or all of the units can be selected to achieve the purpose of the embodiments.

[0081] Further, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0082] In this article, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations.

[0083] The above merely illustrates the embodiments of the present application but should not be taken as limitations to the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-flight robotic arm contact force self-adaptive cooperative impedance control method applied to a control system of a flight vehicle carrying multiple robotic arms, characterized in that, The method comprises the following steps: S1. obtaining sensor data through sensors pre-arranged on the mechanical arms; the sensor data comprises contact force information of each mechanical arm; S2. calculating contact force errors of each mechanical arm according to the contact force information of each mechanical arm; S3. dynamically adjusting impedance parameters of each mechanical arm according to the contact force errors of each mechanical arm to obtain adjusted impedance parameters of each mechanical arm; S4. calculating coordination factors of each mechanical arm according to the contact force information of each mechanical arm; S5. calculating coordination errors of all the mechanical arms according to the coordination factors; S6. adjusting expected positions of each mechanical arm according to the coordination errors to obtain adjusted expected positions of each mechanical arm; S7. generating control instructions of each mechanical arm according to the adjusted expected positions and the adjusted impedance parameters, and controlling the movement of each mechanical arm through the control instructions.

2. The method of claim 1, wherein, The specific steps in step S2 comprise: The contact force error is calculated according to the following formula: ； wherein is the contact force error, is the actual contact force vector in the contact force information, is the desired contact force vector.

3. The method of claim 1, wherein, The impedance parameters comprise an inertia matrix, a damping matrix and a stiffness matrix.

4. The method of claim 3, wherein, The specific steps in step S3 comprise: The inertia matrix is adjusted according to the following formula: ； wherein, is the inertia matrix at the k+1th adjustment, is the inertia matrix at the kth adjustment, is a preset inertia matrix learning rate, is the contact force error at the kth adjustment, is the transpose matrix of the contact force error at the kth adjustment, is a sampling time interval; The damping matrix is adjusted according to the following formula: ； wherein, is the damping matrix at the k+1th adjustment, is the damping matrix at the kth adjustment, is a preset damping matrix learning rate; The stiffness matrix is adjusted according to the following formula: ； wherein, is the stiffness matrix at the k+1th adjustment, is the stiffness matrix at the kth adjustment, is a preset stiffness matrix learning rate.

5. The method of claim 1, wherein, The specific steps in step S4 comprise: The coordination factors of each mechanical arm are calculated according to the following formula: ； wherein, is a cooperation factor for the i-th manipulator, is an actual contact force for the i-th manipulator, is the total number of manipulators on the aircraft.

6. The method of claim 1, wherein, The specific steps in step S5 comprise: The coordination error is calculated according to the following formula: ； wherein, is the cooperative error, is the total number of manipulators on the aerial vehicle, is the cooperative factor of the i-th manipulator, is the actual contact force of the i-th manipulator, is the average of all the actual contact forces of the manipulators.

7. The method of claim 1, wherein, The specific steps in step S6 comprise: The expected positions of each mechanical arm are adjusted according to the following formula: ； wherein, is the desired position of the i-th robot at the k+1 adjustment, is the desired position of the i-th robot at the k adjustment, is the cooperative position adjustment coefficient, is the cooperative error at the k adjustment.

8. A multi-flight robotic arm contact force self-adaptive cooperative impedance control device applied to a control system of a flight vehicle carrying multiple robotic arms, characterized in that, The method comprises: A first obtaining module is configured to obtain sensor data through sensors pre-arranged on the mechanical arms; The sensor data comprises contact force information of each mechanical arm; A first calculating module is configured to calculate contact force errors of each mechanical arm according to the contact force information of each mechanical arm; A first adjusting module is configured to dynamically adjust impedance parameters of each mechanical arm according to the contact force errors of each mechanical arm to obtain adjusted impedance parameters of each mechanical arm; A second obtaining module is configured to calculate coordination factors of each mechanical arm according to the contact force information of each mechanical arm; A second calculating module is configured to calculate coordination errors of all the mechanical arms according to the coordination factors; A second adjusting module is configured to adjust expected positions of each mechanical arm according to the coordination errors to obtain adjusted expected positions of each mechanical arm; A control generating module is configured to generate control instructions of each mechanical arm according to the adjusted expected positions and the adjusted impedance parameters, and control the movement of each mechanical arm through the control instructions.

9. An electronic device, comprising: The computer program is executed by the processor to run the steps in the multi-flight mechanical arm contact force adaptive coordination impedance control method according to any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to run the steps in the multi-flight mechanical arm contact force adaptive coordination impedance control method according to any one of claims 1-7.

Images