A scheduling and path planning method and system for parallel collaborative work of multi-micro manipulator devices

Abstract

The application discloses a kind of multi-micro manipulator device parallel collaborative work scheduling and path planning method and system, comprising: according to system state space model, the task information of the task to be processed is obtained;According to the spatial distribution characteristics of target task in task information and task demand, the target task is grouped, and a plurality of task subgroups are obtained;Several task subgroups are assigned to corresponding micro manipulator device, and initial task allocation scheme is generated;In the process that micro manipulator device executes task, its execution state is monitored in real time, and according to the deviation of actual execution progress and expected planning, the remaining tasks are dynamically rescheduled, and updated task scheduling sequence is generated;According to the target position of each micro manipulator device, kinematic constraint and collision constraint, the optimal path without collision is planned for each micro manipulator device, and position calibration is carried out in the process of path execution.The method proposed in the application significantly improves the efficiency of multi-device parallel collaborative work.

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