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Coordination control method for rigid multi-robot generalized system

A multi-robot, generalized system technology, applied in the field of rigid multi-robot generalized system coordination control, can solve the problems of multi-robot multi-system complex control, unable to meet the needs of complex working conditions, etc.

Active Publication Date: 2018-12-18
MINJIANG UNIV
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  • Claims
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Problems solved by technology

The research and development of a traditional single robot can no longer meet the needs of complex working conditions
Multi-robot cooperation has strong coupling nonlinear relationship and multi-system complex control problems. The traditional single-robot control method cannot be easily extended to multi-robot motion control, and a new multi-machine coordinated control strategy must be sought.

Method used

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  • Coordination control method for rigid multi-robot generalized system
  • Coordination control method for rigid multi-robot generalized system
  • Coordination control method for rigid multi-robot generalized system

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Embodiment Construction

[0051] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0052] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0053] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combina...

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Abstract

The invention relates to a coordination control method for a rigid multi-robot generalized system. A rigid multi-robot motion system is set up at first, a rigid multi-robot nonlinear dynamic system isestablished through a T-S fuzzy method, and model transformation is conducted under a framework of the generalized system. In view of difficult acquisition of the centroid speed of a multi-robot base, an output feedback coordination controller is further designed, and thus the multi-robot motion system works stably. Multi-robots are modeled through the T-S fuzzy method under the framework of thegeneralized system, through the designed output feedback coordination controller, the multi-robot control system can stably work, and the coordination control method has broad market application prospects.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for coordinated control of rigid multi-robot generalized systems. Background technique [0002] Robots can replace or assist humans in various difficult or dangerous tasks, so their research and development is very important. The research and development of a traditional single robot has been unable to meet the needs of complex working conditions. Multi-robot cooperation has strong coupling nonlinear relationship and multi-system complex control problems. The traditional single-robot control method cannot be easily extended to multi-robot motion control, and a new multi-machine coordinated control strategy must be sought. Contents of the invention [0003] In view of this, the purpose of the present invention is to propose a rigid multi-robot generalized system coordination control method, which can effectively solve the above problems. [0004] The present invention is realize...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 钟智雄林文忠邵振华张祖昌
Owner MINJIANG UNIV
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