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Automatic switching control method for decentralization and centralization of mobile manipulators

A mobile manipulator, autonomous switching technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of strong coupling, kinematic redundancy, control accuracy and real-time performance and other performance indicators cannot be guaranteed and cannot be suitable. Select problems such as decentralized control and centralized control to achieve the effect of high control accuracy and strong operation ability

Active Publication Date: 2015-04-15
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0006] In summary, the existing research on mobile manipulators still has the following problems: the strong coupling and kinematic redundancy between the two subsystems of the movable platform and the manipulator need further research; in the face of For tasks with different complexities, it is impossible to properly select decentralized control or centralized control, and at the same time, performance indicators such as control accuracy and real-time performance cannot be guaranteed.

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  • Automatic switching control method for decentralization and centralization of mobile manipulators
  • Automatic switching control method for decentralization and centralization of mobile manipulators
  • Automatic switching control method for decentralization and centralization of mobile manipulators

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] The decentralized centralized autonomous switching control method of the mobile mechanical arm implemented according to the present invention is as follows: figure 1 As shown, it mainly includes the following steps:

[0026] A: Establish the world coordinate system and vehicle coordinate system for the mobile manipulator, and obtain the current pose of the mobile manipulator; the current pose of the mobile manipulator is determined by the sensor device on the platform and the established coordinate system; the world coordinate system It is used to determine the position of the mobile manipulator in the world coordinates; the vehicle coordinate system is used to determine the position of the object measured by the sensor relative to the mobile manipulator during the travel of the mobile manipulator.

[0027] The world coordinate system a...

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Abstract

The invention relates to an automatic switching control method for decentralization and centralization of mobile manipulators. The method includes: firstly, establishing a world coordinate system and a vehicle-mounted coordinate system for the mobile manipulators, and acquiring current poses of the mobile manipulators; secondly, aiming at different control strategies, establishing kinematic and dynamical models for a system; and thirdly designing an automatic decentralization and centralization control switcher, and finally completing established tasks by means of coordination control of the mobile manipulators and a movable platform. Aiming at different control tasks, a reasonable control scheme is selected as either decentralization or centralization, the tasks are guaranteed to be completed smoothly under coordination control between the movable platform and the manipulators, and further control performance of the mobile manipulators is improved under the influences of uncertain factors such as unknown external disturbance, environment time varying and obstacle avoidance. The method can be widely used for application fields of industrial production, medical assistance and the like, and researches on different objects of underwater robots, flying robots and the like can be extended.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a decentralized-centralized autonomous switching control method based on a mobile mechanical arm. Background technique [0002] Since the advent of the robotic arm in the 20th century, the robotic arm has developed rapidly and is widely used in military, industrial and medical aspects. With the advancement of technology in all aspects, the shortcomings of the limited working space of traditional manipulators have become increasingly prominent, making it unable to meet various high-tech needs. Due to the almost infinite working space and high motion redundancy of the mobile manipulator, the research on the mobile manipulator has become a hot spot in the field of robotics in recent years. However, due to the different dynamic characteristics and strong coupling between the manipulator and the movable platform, the research of the mobile manipulator is also one of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 吴怀宇陈雪锋韩涛吴若鸿钟锐张志芬林冠西
Owner WUHAN UNIV OF SCI & TECH
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