Multi-manipulator synchronous control experimental platform and experimental method

Abstract

The invention provides a test platform and method for synchronous control over multiple mechanical arms, and belongs to the technical field of synchronous control simulation. The test platform is characterized by comprising simulation control units and execution units. The simulation control units include an upper computer, a DSPACE platform and an ARM platform, wherein the upper computer, the DSPACE platform and the ARM platform are connected in sequence, and the ARM platform is connected with one or more distributed synchronous controllers and the upper computer at the same time. The execution units are mechanical arm execution units which correspond to the synchronous controllers and are connected with the ARM platform. The test method comprises the following steps of modeling the mechanical arms, simulating a kinetic model of the mechanical arms, converting and issuing a synchronous control code, dispatching the ARM platform, executing the synchronous controllers, moving the mechanical arms, and finishing a simulation test. The test platform and method for synchronous control over the multiple mechanical arms have the advantages of being high in universality and openness and capable of providing a testing environment for most nonlinear complex network control algorithms.

Description

technical field [0001] The invention discloses a multi-manipulator arm synchronous control experiment platform and an experiment method, belonging to the technical field of synchronous control simulation. Specifically, it relates to an open and general experimental platform and experimental method designed for various synchronous, coordinated or consistent control algorithms of nonlinear complex networks. Background technique [0002] Synchronous control, coordinated control or consensus control of nonlinear complex network systems is a difficult problem in the field of control theory. In recent years, some control algorithms have been proposed by the academic community, most of which have been verified by computer simulation, and lack of general experimental methods. At present, simulation by manipulator is one of the commonly used methods, but most of the manipulator experiment platforms are aimed at a single manipulator, which can realize the path planning of the manipul...

AI Technical Summary

Problems solved by technology

At present, simulation by manipulator is one of the commonly used methods, but most of the manipulator experiment platforms are aimed at a single manipulator, which can realize the path planning of the manipulator, the test of the joint tracking control algorithm and the analysis of the experimental results. This type of single-arm simulation platform cannot complete the testing of nonlinear complex network control algorithms such as synchronous control, coordinated control, or consistent control.

Although it has been reported in the literature that synchronous control test systems have been established, they can only test the developed control algorithms, lacking openness and versatility

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