A distributed cooperative control method and device for a body-intelligent multi-arm mobile operating robot, electronic equipment, and storage medium
By introducing a distributed cooperative control method into a multi-arm mobile robot, and utilizing the distributed computing and sensing units of the joint controller, the problems of communication delay and single point of failure in the prior art are solved, achieving efficient multi-arm cooperative control and improving the real-time performance and reliability of the system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI SAGE INTELLIGENT TECH CO LTD
- Filing Date
- 2026-04-24
- Publication Date
- 2026-06-05
AI Technical Summary
The existing control architecture of multi-arm mobile robots suffers from communication delays, single points of failure, and waste of local perception information, resulting in low real-time response capability and reliability, especially in high-precision collaborative operations.
A distributed collaborative control method is adopted. By integrating a distributed computing unit and a sensing unit in each joint controller, neighbor joints are determined using preset static neighbor relationships and dynamic filtering rules, event-triggered communication is carried out, and state data is iteratively integrated through an adaptive potential field neighbor consensus algorithm to generate joint control correction quantities that satisfy global collaborative constraints.
It achieves low-latency, high-fault-tolerant multi-arm collaborative control, reduces bus load and command transmission latency, eliminates single-point failure risk, and makes full use of joint-level perception information to participate in collaborative decision-making, thereby improving the system's real-time performance, reliability and dynamic adaptability.
Smart Images
Figure CN122143041A_ABST