Task dynamic tracking method and device for multiple fixing base redundancy mechanical arms

Abstract

A task dynamic tracking method for multiple fixing base redundancy mechanical arms comprises the steps that the distance between the fixing base redundancy mechanical arms in a multi-fixing base redundancy mechanical arm system and a target is obtained, according to the connecting relation of the fixing base redundancy mechanical arm topology connection diagram and exchange information of every two adjacent fixing base redundancy mechanical arms, according to the distance between the fixing base redundancy mechanical arms and the target and the exchange information between every two adjacent fixing base redundancy mechanical arms, the fixing base redundancy mechanical arm closest to the target is obtained; and an end effector of the fixing base redundancy mechanical arm closest to the target is started, and the target is tracked. The method can effectively adapt to communication between the fixing base redundancy mechanical arms in the large-scale environment, and cooperation of the multi-fixing base redundancy mechanical arm system is finished. 一种多固定基座冗余度机械臂的任务动态追踪方法包括：获取多固定基座冗余度机械臂系统中的固定基座冗余度机械臂与目标物的距离，并根据固定基座冗余度机械臂的拓扑连接图的连接关系，相邻的两个固定基座冗余度机械臂之间交换信息；根据所述固定基座冗余度机械臂与目标物的距离，以及相邻的两个固定基座冗余度机械臂之间所交换的信息，确定与目标物最近的固定基座冗余度机械臂；启动所述与目标物的距离最近的固定基座冗余度机械臂的末端执行器，对目标物进行追踪。本方法能够有效的适应大规模环境下的固定基座冗余度机械臂之间的通信，并完成多固定基座冗余度机械臂系统的协作。