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Multi-robot cooperative control method based on input-restricted self-excited driving

An input-limited, multi-robot technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems affecting system performance, system instability, etc.

Active Publication Date: 2016-02-03
SHANGHAI RADIO EQUIP RES INST +1
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

Actuator saturation often seriously affects the performance of the system, leading to system instability and even major accidents
Stabilization and calming of input-limited systems is of great practical importance, but is extremely challenging in theory

Method used

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  • Multi-robot cooperative control method based on input-restricted self-excited driving
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  • Multi-robot cooperative control method based on input-restricted self-excited driving

Examples

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Embodiment Construction

[0047] A typical PC-based SCARA robot control system such as figure 1 As shown, the entire control system is divided into three layers, the bottom layer is the robot body, the robot body is driven by an AC servo motor and a precision planetary reducer, and the signal from the servo motor encoder is transmitted to the servo control level. The servo control stage is composed of AC servo motor driver and multi-axis motion control card. The servo control stage adopts three closed-loop control structures of high-precision position, speed and current to complete the control of multiple joints. After the PC as the upper computer completes the overall trajectory planning, it sends instructions to the multi-axis motion controller, and then the multi-axis motion controller completes the closed-loop control algorithm, and sends the control amount to the servo driver according to a certain communication protocol, and finally drives mechanism to perform the desired movement.

[0048] The...

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Abstract

The invention relates to a multi-robot cooperative control method based on input-restricted self-excited driving. The method discards a feedback control mode in need of periodical sampling in a conventional control method. Under the prerequisite that stability and optimized characteristics are achieved, when a closed-loop system really needs control, the method uses the information of an intelligent agent itself at a previous time to obtain a control amount of a following time, thereby accomplishing self-excited sampling and control. Besides, based on the self-excited driving mechanism mentioned above, the method uses a multi-cell method to process a saturated non-linear link, and can effectively carry out L1 gain optimizing design of an input-restricted system. The algorithm can effectively process input saturated non-linear factors and satisfy the demands of multi-robot cooperative working. Compared with a conventional method based on a time driving mechanism, the method has a largely-reduced communication burden, data redundancy is reduced, system performance is improved, and the method has higher engineering feasibility.

Description

technical field [0001] The present invention relates to the field of multi-robot network cooperative control based on multi-SCARA robots, and specifically relates to a multi-robot cooperative control method based on input-limited self-excitation drive, which realizes multi-robot input-limited distributed collaborative self-excitation drive L 1 Gain optimization control. Background technique [0002] Industrial robots are widely used in construction machinery, automobile manufacturing and other fields because of their advantages of replacing monotonous and heavy manual labor of humans, facilitating automation and improving production efficiency. Among them, the planar articulated SCARA (selective compliance assembly robot arm) robot has the advantages of fast movement, high repeatability, few parts, multiple installation methods, and basically maintenance-free, and has been widely used in industrial sites. With the continuous deepening of research, the demand for multi-robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 吴雄君曹培培陈潜
Owner SHANGHAI RADIO EQUIP RES INST
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