Synchronous tracking control method of main mechanical arm and auxiliary arm based on quantitative communication

Abstract

The invention provides a synchronous tracking control method of a main mechanical arm and an auxiliary arm based on quantitative communication. The synchronous tracking control method comprises the following steps: S1, the movement modes of the main mechanical arm and the auxiliary mechanical arm are set respectively; S2, the position information and speed information of a main mechanical arm joint and an auxiliary mechanical arm joint are acquired respectively; S3, quantization processing is carried out on the obtained relevant information through a probability quantizer to obtain quantitative information; S4, the quantized information is sent into a controller, and the control moment of the auxiliary mechanical arm is controlled; S5, the controller sends a control instruction to the auxiliary mechanical arm, the corresponding operation is completed from the auxiliary mechanical arm, and a synchronous following control period is completed; and S6, S1 and S5 are repeated, and followingcontrol on the main mechanical arm is completed. According to the synchronous tracking control method, the synchronous tracking control of long-distance and large-number mechanical arms is completedunder the principle of quantitative communication, and unified control and high-precision coordination application of the mechanical arms are effectively realized.

Description

technical field [0001] The invention relates to a control method, in particular to a master-slave manipulator synchronous tracking control method based on quantitative communication, and belongs to the technical field of manipulator synchronous control. Background technique [0002] With the continuous advancement of science and technology, the degree of automation of industrial production is getting higher and higher, and various types of industrial robots have also been widely used in industrial production. Among them, as an industrial robot with relatively mature technology and high operating speed and precision, the mechanical arm plays a particularly prominent role in improving production efficiency, ensuring production quality, and reducing production costs. Therefore, it is also used by more and more industrial manufacturers. Businesses choose to use. [0003] In the field of manipulator synchronous control technology, multi-manipulator synchronous tracking control i...

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Problems solved by technology

[0004] However, in the actual application process, it is found that due to the limitation of the bandwidth of the channel or the accuracy of the transmitted data, it is difficult to achieve complete accuracy in the information exchange between individuals in the system. Controls have a greater impact

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