Distributed control method and system for modular robot

Abstract

The invention provides a modular robot decentralized control method and system. According to user needs, the structure is determined based on a structure library and joint registry information; motionplanning is carried out; then 3D simulation verification is carried out; after simulation is correct, a position execution instruction is generated, and the instruction is transmitted to an intelligent joint; the track of the intelligent joint is tracked and controlled only based on self information through a joint compound control algorithm on the basis of dynamic decoupling, and finally the whole robot system is controlled. According to the modular robot decentralized control method and system, the structure is determined on the basis of the structure library and a joint registry accordingto needs, the structure is simulated, and the difficulty of artificially selecting the structure is avoided; the feasibility of the structure of track planning is verified through simulation, and unnecessary errors are reduced. The decentralized control of joint track tracking is achieved only according to information of the joint on the basis of joint dynamic decoupling, and compared with traditional centralized control and distributed control, the modular robot decentralized control method and system accord with the thought of reconfigurability, and efficiency is improved.

Description

technical field [0001] The invention relates to a decentralized control method and system for a modular robot. Background technique [0002] Robots are playing an increasingly important role in current production and life, especially modular robots with strong versatility. A modular robot is a robot that is based on modular joints, connecting rods and standard electrical interfaces, and can automatically or artificially change its configuration to adapt to new tasks according to the environment and task needs. [0003] The traditional centralized control structure has only one control center, and the unified processing of information requires a large amount of computing resources. When the system is complex, it cannot effectively guarantee the real-time performance and stability of the system. Although distributed control has multiple sub-control centers, each control center still needs to negotiate with each other to handle tasks. When a control center fails, it will affec...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a modular robot decentralized control method and system to solve the problem that the control algorithm in the prior art does not meet the requirements of the current modular robot control and needs to improve the performance of the modular robot

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