High reliability control method and high reliability control system in multi-robot system

Abstract

The invention provides a high reliability control method and a high reliability control system in a multi-robot system. The method comprises steps of robot topology design, fault prediction design and fault recovery design, wherein for the step of robot topology design, robot topology comprises a work group formed by work robots and a standby work group formed by standby robots, positions of the standby robots and the work robots are replaceable, for the step of fault prediction design, in combination with health statues of the robots in the system, fault prediction for the work robots is carried out by utilizing a Markov model predication method; for the step of fault recovery, when a work robot is in fault, a standby robot is controlled to replace the fault work robot. As is shown in a result of a simulation system, device processing production tasks can be smoothly and cooperatively accomplished under the no-fault condition or under the fault condition, the work robot in fault can be replaced by the standby robot to accomplish operation in the system, and thereby seamless joint for device processing production can be realized.

Description

technical field [0001] The present invention relates to the field of automatic control, in particular, to a high-reliability control method and system in a multi-robot system, which is applied to a multi-robot system, and through fault prediction, topological arrangement, and troubleshooting control of a multi-robot system, Realize high-reliability control of multi-robot systems. Background technique [0002] Since the 1970s, industrial robots have become an important technology in the industrial field. Worldwide, the application of industrial robots has set off a climax. With the continuous increase of labor costs and the rising labor costs of enterprises, industrial robots have objective development needs. At the same time, the application fields of industrial robots have gradually expanded from the automotive industry to electronics manufacturing, food and drug and plastic industries. In order to complete complex processes, industrial robots work together in many cases...

AI Technical Summary

Problems solved by technology

There are two reasons for this. First, industrial robots are generally standardized products, and fault-tolerant control of a single robot cannot be implemented. Second, the organizational structure of a multi-robot system is complex and changeable. Even if a high-quality fault-tolerant controller is designed, It is also difficult to meet the requirements of robustness

Images