Multiple redundant mechanical arm systematic cooperative control method and device

Abstract

The invention relates to the field of mechanical arm control, and provides a multiple redundant mechanical arm systematic cooperative control method and device. The control method comprises the steps that the target redundant degree mechanical arm in the multiple redundant mechanical arm system is determined; the location information of the adjacent redundant degree mechanical arm of the target redundant degree mechanical arm is obtained; the reference point track information of the target redundant degree mechanical arm is obtained; a Jacobian matrix equation corresponding to the target redundant degree mechanical arm is constructed based on the preset rules according to the location information and the reference point track information; the control signal of the target redundant degrees mechanical arm is determined according to the quadratic optimization and the standard quadratic programming method; the target redundant degree mechanical arm is controlled according to the control signals, so that the operability of the target redundant degree mechanical arm is maximized. The proposed cooperative control method can in the case of communication restrictions achieve the maximized distributed cooperative control for the operability of the multiple mechanical arm system. 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；根据所述位置信息和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的可操作度最大化。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可操作度最大化分布式协同控制。