Collaborative task planning method of remote operating system of multiple mechanical arms based on Petri network

Abstract

The invention relates to a collaborative task planning method of a remote operating system of multiple mechanical arms based on a Petri network. A method based on the Petri network is adopted to perform collaborative task planning on the remote operating system of the multiple mechanical arms, and the whole remote operating task system is layered and modularized, so that a model is established according to the Petri network, and a control instruction is generated to move. The method is used for on-orbit maintenance of the remote operating system of a multi-arm robot, on-orbit service tasks including fuel adding to spacecraft, load caring and the like as well as control tasks of the interiors of nuclear power plants, deep seas and the like which cannot be touched by human. The collaborativetask planning method has the beneficial effects that non-professional personnel are assisted to perform the collaborative task planning on the remote operating system of the multiple mechanical arms;the operating efficiency is improved, and the precision and the control safety are increased; and the collaborative task planning method can be conveniently controlled according to the control instruction generated by the Petri network.

Description

Technical field [0001] The invention belongs to the field of robot teleoperation, and relates to a method for planning a coordinated task of a multi-manipulator teleoperation system based on a Petri net. Background technique [0002] On-orbit service tasks such as on-orbit maintenance of multi-arm robot teleoperation systems, spacecraft fuel refueling and load care, as well as control tasks inside nuclear power plants, deep seas and other places that humans cannot reach, all face many difficulties. Because operating a single robotic arm can only complete simple manipulations such as screwing, transfer, and monitoring, and it is difficult to complete complex and large tasks. At this time, multiple robotic arms are required for operation, which can work alone or collaboratively. The master-slave and cooperative control of the multi-manipulator teleoperation system are the main problems faced by cooperative task planning. Multi-manipulator teleoperating system collaborative task pl...

AI Technical Summary

Problems solved by technology

[0003] The previous research work shows that in the past, Cartesian space planning technology and joint space planning technology were mostly used in the task planning of single manipulator. Solving the joint velocity, acceleration and joint displacement of the robotic arm has the advantage of being intuitive, but the amount of calculation is too large and singularity is prone to occur

Joint space planning has a small amount of calculation and high efficiency, and is suitable for the rapid transfer stage where the end effector of the manipulator leaves the target. However, there are complex problems such as coupling between the motion of each joint and the motion of the end effector, and there is no one-to-one correspondence.

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