Multi-industrial-manipulator controller based on double-layer CPG (central pattern generator)

Abstract

The invention discloses a multi-industrial-manipulator controller based on a double-layer CPG (central pattern generator). A structure similar to a layered neural network, which the ganglion controlling activities of invertebrates has and which a central nervous system controlling activities of vertebrates has, is adopted, features of a multi-industrial-manipulator control system and those of a single industrial manipulator are combined, and collective coordination and information interaction of multiple industrial manipulators are efficiently synergic. Flexible joints and a rich sensor system are adopted, information utilization rate of the multiple industrial manipulators is increased, and the joints of the industrial manipulators are effectively controlled, so that the system has high reliability and stability. The sensor system has the ability of autokinetic movement while the industrial-manipulator is enabled to have sufficient dynamic performance and degree of freedom. The multi-industrial-manipulator controller is composed of a phase coordination layer and a motion pattern generation layer; the phase coordination layer allows phase sequence locking for each industrial manipulator; the motion pattern generation layer allows trajectory planning and attitude adjustment for each industrial manipulator.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to a multi-industrial manipulator controller based on a double-layer CPG. Background technique [0002] The central pattern generator (Central Pattern Generator, CPG) is a class of neuronal networks in the central nervous system of invertebrates and vertebrates, which can produce rhythmic behavior without rhythmic control or feedback input. , such as walking, swimming, etc. The movement of invertebrates is controlled by the ganglion, and the movement of vertebrates is controlled by the central nervous system. The latest research shows that the ganglion and the central nervous system of animals have layered properties, which can be divided into the rhythm generation layer and the movement pattern generation layer. [0003] In industrial production, in the face of increasingly heavy work tasks, it may be difficult or inefficient to use a complex and expensive si...

AI Technical Summary

Problems solved by technology

[0008] In order to avoid the deficiencies of the existing technology and overcome the problems of weak collective cooperation and information interaction capabilities between robotic arms, poor impact resistance and insufficient stability, the present invention proposes a multi-industrial robotic arm based on double-layer CPG controller

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