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.