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A multi-task control method for redundant manipulator based on multi-layer structure

A multi-layer structure and control method technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as uncontrollable, low calculation accuracy, and insufficient real-time performance, and achieve high-precision and real-time effects

Active Publication Date: 2022-04-22
信阳航空职业学院
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AI Technical Summary

Problems solved by technology

In the numerical calculation, this kind of method can only calculate the control quantity at the current moment based on the information of the current moment. Due to the inevitable time-consuming calculation, it has insufficient real-time performance.
In addition, this type of method has low calculation accuracy and is uncontrollable

Method used

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  • A multi-task control method for redundant manipulator based on multi-layer structure
  • A multi-task control method for redundant manipulator based on multi-layer structure
  • A multi-task control method for redundant manipulator based on multi-layer structure

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Embodiment 1

[0045] Such as figure 1 Shown flow chart, a kind of multi-task control method of redundant manipulator based on multilayer structure of the present invention, comprises the following steps:

[0046] S101: Build a lower computer with a redundant robotic arm.

[0047] S102: Establish a multi-layer structure time-varying problem model for controlling the redundant manipulator.

[0048] The multilayer structure time-varying problem model of the present invention is divided into four layers, wherein the first layer structure adopts the time-varying nonlinear equation equation, which is used to describe the tracking task of the redundant mechanical arm; the time-varying nonlinearity of the first layer structure, etc. The equation is as follows:

[0049] f(θ(t))-r d (t)=0, formula (1)

[0050] Among them, t is the time, θ(t) is the joint angle vector of the redundant manipulator, f( ) is the nonlinear forward kinematics mapping of the redundant manipulator, r d (t) is the time-v...

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Abstract

The invention belongs to the technical field of motion planning and control of redundant manipulators, and discloses a multi-task control method for redundant manipulators based on a multi-layer structure, comprising the following steps: building a lower computer with redundant manipulators ; Establish the time-varying problem model of the multi-layer structure of the control redundant manipulator; adopt the method of zeroing neurodynamics, convert the time-varying problem model of the multi-layer structure of the redundant manipulator into an equation that is easy to solve, and obtain the equation with The solution formula of the explicit differential equation; use the high-precision discrete formula to discretize the solution formula of the explicit differential equation, and write it into the lower computer controller of the redundant manipulator; the lower computer controller of the redundant manipulator obtains the redundancy The joint angle parameter information of the redundant robotic arm; according to the calculation result of the lower computer controller, the redundant robotic arm is driven to complete the given multi-task. The control method of the invention ensures the control precision and real-time performance of the redundant mechanical arm, and at the same time realizes multi-task control.

Description

technical field [0001] The invention belongs to the technical field of motion planning and control of redundant manipulators, and relates to a multi-task control method for redundant manipulators based on a multi-layer structure. Background technique [0002] The redundant manipulator is a mechanical device with a degree of freedom greater than the minimum degree of freedom required by the task space, and is widely used in industrial automation production activities. In complex environments, redundant manipulator control should consider not only basic tracking tasks, but also other tasks such as overcoming joint limits, joint fault tolerance, etc. [0003] Most of the existing multi-task control methods are based on optimization models, which describe multi-tasks as optimization performance indicators, equality or inequality constraints, and then solve them using numerical solvers based on piecewise linear projection equations. In the numerical calculation, this kind of met...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1628B25J9/163
Inventor 李健朱鑫辉孙艳歌张莉王敬
Owner 信阳航空职业学院
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