Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/82076
Title: Method and device for cooperative control over multi-redundancy mechanical arm system
Other Title: 一种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: 14-Jun-2019
Source: 中国专利 ZL 201710084019.2
Abstract: The invention relates to the field of mechanical arm control and provides a method and device for cooperative control over a multi-redundancy mechanical arm system. The control method comprises the steps of determining a target redundancy mechanical arm in the multi-redundancy mechanical arm system; obtaining position and speed information of a redundancy mechanical arm adjacent to the target redundancy mechanical arm; obtaining reference point track information of the target redundancy mechanical arm; according to the position and speed information and the reference point track information, constructing a jacobian matrix equation corresponding to the target redundancy mechanical arm according to preset rules; determining control signals of the target redundancy mechanical arm according to a quadratic form optimization and standard quadratic programming method; and controlling the target redundancy mechanical arm according to the control signals, so the target redundancy mechanical arm implements repeated motion. By utilizing the method for cooperative control over the multi-redundancy mechanical arm system, distributed type cooperative repeated motion of the multi-redundancy mechanical arm system can be implemented under the conditions of limited communication.
本发明涉及机械臂控制领域,提出一种多冗余度机械臂系统的协同控制方法与装置。所述控制方法包括: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和速度信息;获取所述目标冗余度机械臂的参考点轨迹信息;根据所述位置和速度信息,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,使得所述目标冗余度机械臂实现重复运动。利用本发明实施例提出的协同控制方法,可在通信受限的情况下实现多机械臂系统的分布式协同重复运动。
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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