Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/82070
Title: Cooperative control method and device for multi-redundancy-mechanical-arm system based on sudden adding degree
Other Title: 基于突加度的多冗余度机械臂系统的协同控制方法与装置
Authors: Jin, L 
LI, S 
Issue Date: 2019
Source: 中国专利 ZL 201710084020.5
Abstract: The invention relates to the field of mechanical arm control and provides a cooperative control method and device for a multi-redundancy-mechanical-arm system based on the sudden adding degree. The method includes the steps that target redundancy mechanical arms in the multi-redundancy-mechanical-arm system are determined; the positions, the speeds and the acceleration information of the adjacent redundancy mechanical arms in the target redundancy mechanical arms are obtained; the reference point track information of the target redundancy mechanical arms is obtained; a jacobian matrix equation corresponding to the target redundancy mechanical arms is constructed according to the positions, the speeds, the acceleration information and the reference point track information based on the preset rule; control signals of the target redundancy mechanical arms are determined according to a quadratic form optimization and standard quadratic programming method; and the target redundancy mechanical arms are controlled according to the control signals, and all the redundancy mechanical arms in the system achieve distributed cooperative movement. By means of the cooperative control method and device for the multi-redundancy-mechanical-arm system based on the sudden adding degree, distributed cooperative movement of the multi-redundancy-mechanical-arm system based on the sudden adding degree is achieved in the communication limited situation.
本发明涉及机械臂控制领域,提出一种基于突加度的多冗余度机械臂系统的协同控制方法与装置。所述方法包括:确定多冗余度机械臂系统中的目标冗余度机械臂;获取所述目标冗余度机械臂的相邻冗余度机械臂的位置、速度和加速度信息;获取所述目标冗余度机械臂的参考点轨迹信息;根据所述位置、速度和加速度信息,以及所述参考点轨迹信息按照预设的规则构建所述目标冗余度机械臂对应的雅可比矩阵等式;根据二次型优化和标准二次规划方法确定所述目标冗余度机械臂的控制信号;根据所述控制信号控制所述目标冗余度机械臂,使所述系统中的各个冗余度机械臂实现分布式协同运动。本发明可在通信受限的情况下实现基于突加度的多机械臂系统的分布式协同运动。
Publisher: 中华人民共和国国家知识产权局
Rights: 专利权人: 香港理工大学深圳研究院
Appears in Collections:Patent

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