39 results about "Holonomic constraints" patented technology

The embodiment of the invention discloses a method for optimizing the joint angle of an underactuated manipulator based on an improved particle swarm algorithm. Including: establishing a plane three-degree-of-freedom passive-active-active (PAA type) underactuated manipulator dynamics model; The order is reduced to two passive-active (PA-type) subsystems, and the relationship between the joint angle and the end position of the manipulator is clarified; finally, the difference between the end position of the underactuated manipulator arm and the target position is used as the objective function, based on the particle swarm The optimization principle of the algorithm introduces the Metropolis acceptance criterion of simulated annealing and the crowding factor of the artificial fish swarm algorithm to solve the optimal joint angle corresponding to the target position. According to the technical solution proposed by the embodiment of the present invention, when the position of the underactuated manipulator is controlled, the probability of the optimization algorithm falling into a local optimum can be reduced and the solution accuracy can be improved.

The invention discloses an orbit expansion based multi-robot tracing formulation control method, comprising the following steps of: a) for a group of target orbit in a plane, expanding vectors of the target orbit, which point to each point on the orbit along the center of the target orbit, into an orbital cluster equivalent to an orbital function, and determining the movable range of robots; b) calculating tracing error by virtue of the orbital function, and designing the virtual angular velocity of the robots to ensure the tracing error to meet design requirements; c) calculating the generalized arc length and differential coefficient of the generalized arc length when the robots move along the orbit, by virtue of the orbital function and the target orbit, and designing the control forceof the robots by virtue of neighbor information obtained by communication to realize formulation; d) calculating the error between the real angular velocity and the virtual angular velocity, and designing the control moment of force of the robot to complete tracing; and e) completing motion control on the robots by virtue of a servo system. The orbit expansion based multi-robot tracing formulation control method disclosed by the invention is especially applicable to nonholonomic constraint dynamic robots and simple and convexly- closed orbits. The method is simple and reliable, has higher accuracy and can be applied to multi-robot optimized information acquisition and the like.

The invention discloses a mechanized mechanics modeling method of a non-holonomic constraint system. During the constraint analysis, intermediate variables are introduced to describe the non-holonomic constraint relationship according to the complex situation of the non-holonomic constraint; the independent generalized velocity contained in the kinetic energy is revealed through the constraint analysis Information, extract the coefficient of the independent generalized velocity product term and define it as an intermediate variable, and rewrite the kinetic energy into a new form of expression; The total derivative of , can be solved by analyzing the subordination structure of variables, establishing a function-variable implication relationship table and introducing compound derivatives; calculating the influence items of non-holonomic constraints on the system is more complicated, and several structure arrays can be defined to store calculation results. In order to avoid the problem of model expansion caused by the back substitution of intermediate variables, the calculation expressions of the model need to be output in reverse order.