CN106926238B - The cooperative control method and device of multi-redundant mechanical arm system based on impact degree - Google Patents
The cooperative control method and device of multi-redundant mechanical arm system based on impact degree Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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- B25J9/1643—Programme controls characterised by the control loop redundant control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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Abstract
The present invention relates to mechanical arm control fields, propose the cooperative control method and device of a kind of multi-redundant mechanical arm system based on impact degree.The described method includes: determining the target redundancy degree mechanical arm in multi-redundant mechanical arm system；Obtain position, the velocity and acceleration information of the adjacent redundant degree mechanical arm of the target redundancy degree mechanical arm；Obtain the reference point trace information of the target redundancy degree mechanical arm；The corresponding Jacobian matrix equation of the target redundancy degree mechanical arm is constructed according to default rule according to the position, velocity and acceleration information and the reference point trace information；The control signal of the target redundancy degree mechanical arm is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR；The target redundancy degree mechanical arm is controlled according to the control signal, each redundancy mechanical arm in the system is made to realize distributed collaboration movement.The present invention can realize the distributed collaboration movement of the Multi-arm robots based on impact degree in the case where communication is limited.
Description
Technical field
The present invention relates to mechanical arm control fields, and in particular to a kind of multi-redundant mechanical arm system based on impact degree
Cooperative control method and device.
Background technique
The characteristic of least degree of freedom needed for there is redundancy mechanical arm freedom degree to be greater than task space, is widely used in equipping
In the national economy production activities such as manufacture, product processing, machinery operation, production can be greatly improved compared to traditional manual work
Efficiency.
Multi-redundant based on impact degree is known as by the system that multiple redundancy mechanical arms using the control of impact degree form
Mechanical arm system, however, in wide operating environment, each redundancy in the multi-redundant mechanical arm system based on impact degree
Mechanical arm does not have the ability of global communication usually, in addition, control centre is also difficult to connect because of the limitation of distance and traffic load
Enter all mechanical arms and carries out direct communication.Under extensive environment, it is possible to lead because quantity is more between redundancy mechanical arm
It causes traffic load excessive and is difficult to communicate, and then cause information that cannot be shared at any time, everywhere, it is serious to hinder to be based on impact degree
Multi-arm robots realize distributed collaboration movement.
Summary of the invention
The present invention proposes the cooperative control method and device of a kind of multi-redundant mechanical arm system based on impact degree, it is intended to
Solve the problems, such as how to realize that the distributed collaboration of the Multi-arm robots based on impact degree is moved in the case where communication is limited.
First aspect of the embodiment of the present invention provides a kind of collaboration control of multi-redundant mechanical arm system based on impact degree
Method processed, the multi-redundant mechanical arm system include more than two redundancy mechanical arms, described two above redundancies
Mechanical arm is connected in communication topology figure；
The control method includes:
Determine that at least one redundancy mechanical arm is that target redundancy degree is mechanical in described two above redundancy mechanical arms
Arm；
Obtain position, the velocity and acceleration information of the adjacent redundant degree mechanical arm of the target redundancy degree mechanical arm, institute
State adjacent redundant degree mechanical arm and the target redundancy degree mechanical arm adjacent connection in communication topology figure；
The reference point trace information of the target redundancy degree mechanical arm is obtained, the reference point trace information is by preset mesh
The desired trajectory for marking reference point and the intended reference point determines；
According to the position, velocity and acceleration information and the reference point trace information according to default rule structure
Build the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm；
In the Jacobian matrix equation, the joint angles limit, the joint velocity limit, the joint velocity limit and articular process
Under the constraint of degree of the adding limit, the control of the target redundancy degree mechanical arm is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR
Signal processed；
The target redundancy degree mechanical arm is controlled according to the control signal, makes described two above redundancy mechanical arms
Realize distributed collaboration movement.
Second aspect of the embodiment of the present invention provides a kind of collaboration control of multi-redundant mechanical arm system based on impact degree
Device processed, the multi-redundant mechanical arm system include more than two redundancy mechanical arms, described two above redundancies
Mechanical arm is connected in communication topology figure；
The control device includes:
Target mechanical arm determining module, for determining at least one redundancy in described two above redundancy mechanical arms
Mechanical arm is target redundancy degree mechanical arm；
Data obtaining module, the position of the adjacent redundant degree mechanical arm for obtaining the target redundancy degree mechanical arm, speed
Degree and acceleration information, the adjacent redundant degree mechanical arm and the target redundancy degree mechanical arm adjacent company in communication topology figure
It connects；
Reference point trace information obtains module, for obtaining the reference point trace information of the target redundancy degree mechanical arm,
The reference point trace information is determined by the desired trajectory of preset intended reference point and the intended reference point；
Equation constructs module, for according to the position, velocity and acceleration information and the reference point trace information
The corresponding Jacobian matrix equation of the target redundancy degree mechanical arm is constructed according to default rule；
Control signal determining module, for the Jacobian matrix equation, the joint angles limit, the joint velocity limit,
Under the constraint of the joint velocity limit and the joint impact degree limit, institute is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR
State the control signal of target redundancy degree mechanical arm；
Mechanical arm control module makes described two for controlling the target redundancy degree mechanical arm according to the control signal
A above redundancy mechanical arm realizes distributed collaboration movement.
In embodiments of the present invention, the target redundancy degree mechanical arm in multi-redundant mechanical arm system is determined；Described in acquisition
The position of the adjacent redundant degree mechanical arm of target redundancy degree mechanical arm, velocity and acceleration information；Obtain the target redundancy degree
The reference point trace information of mechanical arm；It is pressed according to the position, velocity and acceleration information and the reference point trace information
The corresponding Jacobian matrix equation of the target redundancy degree mechanical arm is constructed according to default rule；According to quadratic form optimization and standard
QUADRATIC PROGRAMMING METHOD FOR determines the control signal of the target redundancy degree mechanical arm；It is superfluous that the target is controlled according to the control signal
Remaining mechanical arm makes each redundancy mechanical arm in the multi-redundant mechanical arm system realize distributed collaboration movement.Benefit
The cooperative control method proposed with the embodiment of the present invention, since target redundancy degree mechanical arm only need to be with the adjacent redundant of negligible amounts
Degree mechanical arm is communicated, and traffic load is substantially reduced, so as to realize in the case where communication is limited based on impact degree
The distributed collaboration of Multi-arm robots moves.
Detailed description of the invention
Fig. 1 is a kind of cooperative control method one of the multi-redundant mechanical arm system based on impact degree in the embodiment of the present invention
The flow chart of a embodiment；
Fig. 2 is the specific flow chart of one embodiment of step 104 in Fig. 1；
Fig. 3 is the specific flow chart of one embodiment of step 1042 in Fig. 2；
Fig. 4 is the specific flow chart of one embodiment of step 105 in Fig. 1；
Fig. 5 is a kind of Collaborative Control device one of the multi-redundant mechanical arm system based on impact degree in the embodiment of the present invention
The structure chart of a embodiment.
Specific embodiment
The present invention proposes the cooperative control method and device of a kind of multi-redundant mechanical arm system based on impact degree, it is intended to
Solve the problems, such as how to realize that the distributed collaboration of the Multi-arm robots based on impact degree is moved in the case where communication is limited.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Fig. 1 shows one of a kind of cooperative control method of the multi-redundant mechanical arm system based on impact degree of the present invention
The flow chart of embodiment, the multi-redundant mechanical arm system include more than two redundancy mechanical arms, it is described two more than
Redundancy mechanical arm be connected in communication topology figure；
As shown in Figure 1, the control method includes:
101, determine that at least one redundancy mechanical arm is target redundancy degree in described two above redundancy mechanical arms
Mechanical arm；
Described two above redundancy mechanical arms are distributed on demand in working space, determine that one or more is superfluous
Remaining mechanical arm is target redundancy degree mechanical arm, and the target redundancy degree mechanical arm is made to realize repeating motion.
102, position, the velocity and acceleration letter of the adjacent redundant degree mechanical arm of the target redundancy degree mechanical arm are obtained
Breath, the adjacent redundant degree mechanical arm and the target redundancy degree mechanical arm adjacent connection in communication topology figure；
After determining target redundancy degree mechanical arm, the adjacent redundant degree mechanical arm of the target redundancy degree mechanical arm is obtained
Position, velocity and acceleration information.The adjacent redundant degree mechanical arm refers to the target redundancy degree mechanical arm in communication topology
The redundancy mechanical arm of adjacent connection and target redundancy degree mechanical arm belong to same multi-redundant mechanical arm system in figure.Due to
The multi-redundant mechanical arm system is connection in communication topology figure, therefore some target redundancy degree mechanical arm is come
It says, the number of adjacent redundant degree mechanical arm is one or more.The location information can be the end of redundancy mechanical arm
The location information of actuator is also possible to the location information at other positions of redundancy mechanical arm.Similarly, the velocity information
The velocity information that can be the end effector of redundancy mechanical arm is also possible to the speed at other positions of redundancy mechanical arm
Information；The acceleration information can be the acceleration information of the end effector of redundancy mechanical arm, be also possible to redundancy
The acceleration information at other positions of mechanical arm.Target redundancy degree mechanical arm can be intercoursed with its adjacent redundant degree mechanical arm
The position, velocity and acceleration information.
103, the reference point trace information of the target redundancy degree mechanical arm is obtained, the reference point trace information is by presetting
Intended reference point and the intended reference point desired trajectory determine；
The intended reference point is the preset position reference point in target redundancy degree mechanical arm working space, described
Reference point trace information is determined by the desired locations of the intended reference point, velocity and acceleration.It can be in multi-redundant machinery
One control centre is set in the working space of arm system, is sent to the reference point trace information respectively by the control centre
A target redundancy degree mechanical arm also can use adjacent redundant degree mechanical arm or other means and send out the reference point trace information
Give each target redundancy degree mechanical arm.
104, according to the position, velocity and acceleration information and the reference point trace information according to preset rule
Then construct the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm；
Position, velocity and acceleration information in the adjacent redundant degree mechanical arm for obtaining the target redundancy degree mechanical arm,
And after the reference point trace information of the target redundancy degree mechanical arm, according to the position, velocity and acceleration information, with
And the reference point trace information constructs corresponding Jacobian matrix of the target redundancy degree mechanical arm etc. according to default rule
Formula.
Further, as shown in Fig. 2, step 104 can specifically include:
1041, the corresponding weight matrix of the target redundancy degree mechanical arm, each element in the weight matrix are constructed
It is respectively corresponded between each mechanical arm in the target redundancy degree mechanical arm and described two above redundancy mechanical arms
First connection weight；
The element number of the weight matrix is determined by the mechanical arm number in the multi-redundant mechanical arm system, described
First connection weight represents each machinery in the target redundancy degree mechanical arm and described two above redundancy mechanical arms
Communication connection relationship between arm.For example define weight matrixIts i-th j element definition is on communication topology figure
First between i-th of redundancy mechanical arm and j-th of redundancy mechanical arm is connected to weight.
1042, determine the target redundancy degree mechanical arm according to the acquisition state of the reference point trace information second connects
Logical weight；
The second connection weight represents acquisition of the target redundancy degree mechanical arm for the reference point trace information
State can use ρiTo indicate the second connection weight of i-th of redundancy mechanical arm.
1043, according to the position, velocity and acceleration information, the reference point trace information, the weight matrix and
The second connection weight constructs the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm.
In building weight matrix and after determining the second connection weight, it can be believed according to the position, velocity and acceleration
Breath, the reference point trace information, the weight matrix and described second are connected to weight and construct the target redundancy degree mechanical arm
Corresponding Jacobian matrix equation.
Further, the first connection weight can be determined by following steps:
(1) first between the target redundancy degree mechanical arm and the target redundancy degree mechanical arm itself is connected to weight
It is set as 1；
(2) first between the target redundancy degree mechanical arm and adjacent redundant degree mechanical arm is connected to weight and is set as 1；
(3) by the target redundancy degree mechanical arm and the non-self and non-phase in described two above redundancy mechanical arms
The first connection weight between adjacent redundancy mechanical arm is set as 0.
For above-mentioned steps (1), the target redundancy degree mechanical arm and its own between have communication connection relationship, therefore
1 is set by the first connection weight.For above-mentioned steps (2), the target redundancy degree mechanical arm and adjacent redundant degree machine
Information can be directly exchanged between tool arm, therefore sets 1 for the first connection weight.For above-mentioned steps (3), the mesh
Without directly exchanging information between mark redundancy mechanical arm and non-self and non-adjacent redundancy mechanical arm, therefore by described first
Connection weight is set as 0.
As shown in figure 3, step 1042 can specifically include:
10421, judge whether the target redundancy degree mechanical arm gets the reference point trace information；
If 10422, the target redundancy degree mechanical arm gets the reference point trace information, described second is connected to
Weight is set as 1；
If 10423, the reference point trace information has not been obtained in the target redundancy degree mechanical arm, described second is connected
Logical weight is set as 0.
The second connection power of the target redundancy degree mechanical arm is determined according to the acquisition state of the reference point trace information
Value sets the second connection weight to if the target redundancy degree mechanical arm gets the reference point trace information
1, otherwise 0 is set by the second connection weight.
The general expression of the Jacobian matrix equation is specifically as follows:
Wherein
JiIndicate the Jacobian matrix of target redundancy degree mechanical arm i,WithRespectively JiSingle order led with second-order time
Number；Indicate the joint velocity vector of target redundancy degree mechanical arm i,WithRespectivelySingle order and second time derivative；Indicate the number that the mechanical arm that weight is 1 is connected to first between target redundancy degree mechanical arm i；AijIndicate target
The weight matrix of redundancy mechanical arm i, each element in the weight matrix are target redundancy degree mechanical arm i and redundancy machine
The first connection weight between tool arm j；ρiIndicate the second connection weight of target redundancy degree mechanical arm i；δi=ri-rirpIt is described
Location information, riFor the position of the end effector of target redundancy degree mechanical arm i, rirpFor preset target redundancy degree mechanical arm i
Distance vector of the end effector relative to the intended reference point；For the velocity information,For target redundancy
Spend the speed of the end effector of mechanical arm i；For the acceleration information,For the end of target redundancy degree mechanical arm i
Hold the acceleration of actuator；rdFor the desired locations of the intended reference point,For the desired speed of the intended reference point,
For the expectation acceleration of the intended reference point；c0> 0, c1> 0 and c2> 0 is the parameter of control algolithm convergence rate, bigger
It is faster then to represent convergence rate.
Above-mentioned Jacobian matrix equation (1) is mainly responsible for the distributed collaboration kinematic constraint realized between more mechanical arms, leads to
The position for obtaining other redundancy mechanical arm end effectors, velocity and acceleration information are crossed, it can be mechanical by i-th of redundancy
The expectation impact degree constraint of arm is set as the weighted average of above-mentioned other redundancy mechanical arm relevant positions, velocity and acceleration
(weight is described in Jacobi's equality constraint the right), to realize cooperative motion.Based on Jacobian matrix equality constraint (1) structure
The more mechanical arm cooperative motion systems built have the characteristics of high robust, low communication cost, specifically, for more mechanical arm systems
System does not affect the stabilization of the system when there is mechanical arm to be added or exit.In addition, each mechanical arm only needs and quantity
Less adjacent machine arm communication, it is not necessary to meet the requirement of global communication.If there are 100 mechanical arms, then it is logical in the overall situation
In the case of letter, the communication linkage number needed in total is 100*99/2=4950；And the distribution for utilizing the embodiment of the present invention to propose
Scheme at least only needs 99 communication linkage numbers, substantially reduces traffic load.
105, in the Jacobian matrix equation, the joint angles limit, the joint velocity limit, the joint velocity limit and pass
Under the constraint for saving the impact degree limit, the target redundancy degree mechanical arm is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR
Control signal；
After building the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm, in the Jacobian matrix
Equation, the joint angles limit, the joint velocity limit, the joint velocity limit and the joint impact degree limit constraint under, according to two
Secondary type optimization and standard QUADRATIC PROGRAMMING METHOD FOR determine the control signal of the target redundancy degree mechanical arm.
Further, as shown in figure 4, step 105 can specifically include:
1051, setting performance indicator is impact degree norm minimum, in the Jacobian matrix equation, joint angles pole
Quadratic form optimum results are determined under the constraint of limit, the joint velocity limit, the joint velocity limit and the joint impact degree limit；
The embodiment of the present invention needs to realize the distributed collaboration movement of the Multi-arm robots based on impact degree, therefore two
In secondary type optimization process setting minimize performance indicator be impact degree norm minimum, then the Jacobian matrix equation,
The joint angles limit, the joint velocity limit, the joint velocity limit and the joint impact degree limit constraint under determine that quadratic form is excellent
Change result.
Further, if shown in the Jacobian matrix equation such as formula (1), quadratic form optimization specifically can be with
Are as follows:
Minimize the first formula；
First constraint condition includes:
Jacobian matrix equality constraint
Joint angles limiting constraint
Joint velocity limiting constraint
Joint velocity limiting constraint
Joint impact degree limiting constraint
First formula is
Wherein, the transposition of subscript T representing matrix and vector；Above and below the joint angles for indicating target redundancy degree mechanical arm i
Limit；Indicate the joint velocity bound of target redundancy degree mechanical arm i,Indicate that the joint of target redundancy degree mechanical arm i accelerates
Bound is spent,Indicate the joint impact degree bound of target redundancy degree mechanical arm i.
1052, the quadratic form optimum results are converted into standard quadratic programming；
Quadratic form optimum results are converted into standard quadratic programming, to be solved.
Further, if quadratic form optimization is if formula (2) are to shown in (7), it is contemplated that above-mentioned optimization problem is prominent
It is solved on degree of adding layer, therefore the joint angles constraint (3) of i-th of redundancy mechanical arm, joint velocity need to be constrained (4), joint
Acceleration constrains (5) and joint impact degree constraint (6) merges, so as to obtain below based on impact degreeBoth-end inequality
Constraint:
Wherein,WithThe high-low limit of the synthesis both-end constraint of i-th of redundancy mechanical arm is respectively indicated, they
P-th of element is respectively defined asWithWhereinFor nargin, ip is indicated i-th
The joint serial number of redundancy mechanical arm, p=1,2 ..., m, m are the number of degrees of freedom of mechanical arm, k1> 0, k2> 0 and k3> 0 is used
To adjust and guarantee the sufficiently large feasible zone of joint impact degree.Use xiIndicate the impact degree of i-th of redundancy mechanical armIt is above-mentioned
Quadratic form prioritization scheme (2) to (7) can be described as following standard quadratic programming scheme:
Constraint condition: Cixi=di (8)
It minimizes:
Wherein, xiIt indicatesW is unit matrix, Ci=Ji,
1053, the standard quadratic programming is solved, obtains solving result；
It can use standard Quadratic Programming Solution device or numerical method to solve the standard quadratic programming problem,
Obtain the optimal solution of the acceleration repetitive motion planning method of each target redundancy degree mechanical arm.
1054, the control signal of the target redundancy degree mechanical arm is determined according to the solving result.
The control signal of the target redundancy degree mechanical arm is determined according to the solving result, is then believed using the control
Number target redundancy degree mechanical arm is controlled.
106, the target redundancy degree mechanical arm is controlled according to the control signal, makes described two above redundancy machines
Tool arm realizes distributed collaboration movement.
After the control signal for determining the target redundancy degree mechanical arm, it is superfluous that the target is controlled according to the control signal
Remaining manipulator motion.Finally to keep and the constant situation of reference point relative distance in each robot arm end effector
Under, the redundancy mechanical arm system based on impact degree realizes distributed collaboration movement.
In embodiments of the present invention, the target redundancy degree mechanical arm in multi-redundant mechanical arm system is determined；Described in acquisition
The position of the adjacent redundant degree mechanical arm of target redundancy degree mechanical arm, velocity and acceleration information；Obtain the target redundancy degree
The reference point trace information of mechanical arm；It is pressed according to the position, velocity and acceleration information and the reference point trace information
The corresponding Jacobian matrix equation of the target redundancy degree mechanical arm is constructed according to default rule；According to quadratic form optimization and standard
QUADRATIC PROGRAMMING METHOD FOR determines the control signal of the target redundancy degree mechanical arm；It is superfluous that the target is controlled according to the control signal
Remaining mechanical arm makes each redundancy mechanical arm in the multi-redundant mechanical arm system realize distributed collaboration movement.Benefit
The cooperative control method proposed with the embodiment of the present invention, since target redundancy degree mechanical arm only need to be with the adjacent redundant of negligible amounts
Degree mechanical arm is communicated, and traffic load is substantially reduced, so as to realize in the case where communication is limited based on impact degree
The distributed collaboration of Multi-arm robots moves.
A kind of cooperative control method of multi-redundant mechanical arm system based on impact degree is essentially described above, below will
A kind of Collaborative Control device of multi-redundant mechanical arm system based on impact degree is described in detail.
Referring to Fig. 5, showing a kind of association of the multi-redundant mechanical arm system based on impact degree in the embodiment of the present invention
Same control device, the multi-redundant mechanical arm system include more than two redundancy mechanical arms, described two above superfluous
Remaining mechanical arm is connected in communication topology figure；
The control device includes:
Target mechanical arm determining module 501, for determining that at least one in described two above redundancy mechanical arms is superfluous
Remaining mechanical arm is target redundancy degree mechanical arm；
Data obtaining module 502, the position of the adjacent redundant degree mechanical arm for obtaining the target redundancy degree mechanical arm,
Velocity and acceleration information, the adjacent redundant degree mechanical arm and the target redundancy degree mechanical arm are adjacent in communication topology figure
Connection；
Reference point trace information obtains module 503, and the reference locus of points for obtaining the target redundancy degree mechanical arm is believed
Breath, the reference point trace information are determined by the desired trajectory of preset intended reference point and the intended reference point；
Equation construct module 504, for according to the position, velocity and acceleration information and it is described refer to the locus of points
Information constructs the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm according to default rule；
Signal determining module 505 is controlled, in the Jacobian matrix equation, the joint angles limit, joint velocity pole
It is true according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR under the constraint of limit, the joint velocity limit and the joint impact degree limit
The control signal of the fixed target redundancy degree mechanical arm；
Mechanical arm control module 506 makes described for controlling the target redundancy degree mechanical arm according to the control signal
More than two redundancy mechanical arms realize distributed collaboration movement.
Further, the equation building module 504 can specifically include:
Weight matrix construction unit, for constructing the corresponding weight matrix of the target redundancy degree mechanical arm, the weight
Each element in matrix is each machine in the target redundancy degree mechanical arm and described two above redundancy mechanical arms
Corresponding first connection weight between tool arm；
First determination unit, for determining the target redundancy degree machine according to the acquisition state of the reference point trace information
Second connection weight of tool arm；
Equation construction unit, for according to the position, velocity and acceleration information, the reference point trace information, institute
It states weight matrix and is connected to the corresponding Jacobian matrix equation of the weight building target redundancy degree mechanical arm with described second.
Further, the weight matrix construction unit can specifically include:
First setup module, being used for will be between the target redundancy degree mechanical arm and the target redundancy degree mechanical arm itself
First connection weight be set as 1；
Second setup module, for connecting first between the target redundancy degree mechanical arm and adjacent redundant degree mechanical arm
Logical weight is set as 1；
Third setup module, for will be in the target redundancy degree mechanical arm and described two above redundancy mechanical arms
Non-self and non-adjacent redundancy mechanical arm between first connection weight be set as 0；
First determination unit can specifically include:
Judgment module, for judging whether the target redundancy degree mechanical arm gets the reference point trace information；
4th setup module will if getting the reference point trace information for the target redundancy degree mechanical arm
The second connection weight is set as 1；
5th setup module, if the reference point trace information has not been obtained for the target redundancy degree mechanical arm,
0 is set by the second connection weight；
The general expression of the Jacobian matrix equation of the equation construction unit building is specifically as follows:
Wherein
JiIndicate the Jacobian matrix of target redundancy degree mechanical arm i,WithRespectively JiSingle order led with second-order time
Number；Indicate the joint velocity vector of target redundancy degree mechanical arm i,WithRespectivelySingle order and second time derivative；Indicate the number that the mechanical arm that weight is 1 is connected to first between target redundancy degree mechanical arm i；AijIndicate target
The weight matrix of redundancy mechanical arm i, each element in the weight matrix are target redundancy degree mechanical arm i and redundancy machine
The first connection weight between tool arm j；ρiIndicate the second connection weight of target redundancy degree mechanical arm i；δi=ri-rirpIt is described
Location information, riFor the position of the end effector of target redundancy degree mechanical arm i, rirpFor preset target redundancy degree mechanical arm i
Distance vector of the end effector relative to the intended reference point；For the velocity information,For target redundancy
Spend the speed of the end effector of mechanical arm i；For the acceleration information,For the end of target redundancy degree mechanical arm i
Hold the acceleration of actuator；rdFor the desired locations of the intended reference point,For the desired speed of the intended reference point,
For the expectation acceleration of the intended reference point；c0> 0, c1> 0 and c2> 0 is the parameter of control algolithm convergence rate, bigger
It is faster then to represent convergence rate.
Further, the control signal determining module 505 can specifically include:
Second determination unit, for be arranged performance indicator be impact degree norm minimum, the Jacobian matrix equation,
The joint angles limit, the joint velocity limit, the joint velocity limit and the joint impact degree limit constraint under determine that quadratic form is excellent
Change result；
Converting unit, for the quadratic form optimum results to be converted to standard quadratic programming；
It solves unit and obtains solving result for solving to the standard quadratic programming；
Signal determination unit is controlled, for determining that the control of the target redundancy degree mechanical arm is believed according to the solving result
Number.
Further, the quadratic form optimization that the control signal determining module uses is specifically as follows:
Minimize the first formula；
First constraint condition includes:
Jacobian matrix equality constraint
Joint angles limiting constraint
Joint velocity limiting constraint
Joint velocity limiting constraint
Joint impact degree limiting constraint
First formula is
Wherein, the transposition of subscript T representing matrix and vector；Above and below the joint angles for indicating target redundancy degree mechanical arm i
Limit；Indicate the joint velocity bound of target redundancy degree mechanical arm i,Indicate that the joint of target redundancy degree mechanical arm i accelerates
Bound is spent,Indicate the joint impact degree bound of target redundancy degree mechanical arm i.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of cooperative control method of the multi-redundant mechanical arm system based on impact degree, which is characterized in that more redundancies
Spending mechanical arm system includes more than two redundancy mechanical arms, and described two above redundancy mechanical arms are in communication topology figure
Middle connection；
The control method includes:
Determine that at least one redundancy mechanical arm is target redundancy degree mechanical arm in described two above redundancy mechanical arms；
Obtain position, the velocity and acceleration information of the adjacent redundant degree mechanical arm of the target redundancy degree mechanical arm, the phase
Adjacent redundancy mechanical arm and the target redundancy degree mechanical arm adjacent connection in communication topology figure；
The reference point trace information of the target redundancy degree mechanical arm is obtained, the reference point trace information is joined by preset target
The desired trajectory of examination point and the intended reference point determines；
Institute is constructed according to default rule according to the position, velocity and acceleration information and the reference point trace information
State the corresponding Jacobian matrix equation of target redundancy degree mechanical arm；
In the joint angles limit, the joint velocity limit, the joint velocity limit, the joint impact degree limit and the Jacobian matrix
Under the constraint of equation, determine that the control of the target redundancy degree mechanical arm is believed according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR
Number；
The target redundancy degree mechanical arm is controlled according to the control signal, realizes described two above redundancy mechanical arms
Distributed collaboration movement.
2. cooperative control method according to claim 1, which is characterized in that described according to the position, speed and acceleration
Spend information and the reference point trace information according to default rule construct the target redundancy degree mechanical arm it is corresponding it is refined can
It is specifically included than matrix equality:
The corresponding weight matrix of the target redundancy degree mechanical arm is constructed, each element in the weight matrix is the target
Corresponding first is connected between redundancy mechanical arm and each mechanical arm in described two above redundancy mechanical arms
Weight；
The second connection weight of the target redundancy degree mechanical arm is determined according to the acquisition state of the reference point trace information；
Connected according to the position, velocity and acceleration information, the reference point trace information, the weight matrix and described second
Logical weight constructs the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm.
3. cooperative control method according to claim 2, which is characterized in that the first connection weight passes through following steps
It determines:
First between the target redundancy degree mechanical arm and the target redundancy degree mechanical arm itself is connected to weight to be set as
1；
First between the target redundancy degree mechanical arm and adjacent redundant degree mechanical arm is connected to weight and is set as 1；
By the non-self and non-adjacent redundancy in the target redundancy degree mechanical arm and described two above redundancy mechanical arms
The first connection weight between degree mechanical arm is set as 0；
The acquisition state according to the reference point trace information determines the second connection power of the target redundancy degree mechanical arm
Value specifically includes:
Judge whether the target redundancy degree mechanical arm gets the reference point trace information；
If the target redundancy degree mechanical arm gets the reference point trace information, set the second connection weight to
1；
If the reference point trace information has not been obtained in the target redundancy degree mechanical arm, by the second connection weight setting
It is 0；
The general expression of the Jacobian matrix equation are as follows:
Wherein
JiIndicate the Jacobian matrix of target redundancy degree mechanical arm i,WithRespectively JiSingle order and second time derivative；Table
Show the joint velocity vector of target redundancy degree mechanical arm i,WithRespectivelySingle order and second time derivative；
Indicate the number that the mechanical arm that weight is 1 is connected to first between target redundancy degree mechanical arm i；AijIndicate target redundancy degree machine
The weight matrix of tool arm i, each element in the weight matrix be target redundancy degree mechanical arm i and redundancy mechanical arm j it
Between first connection weight；ρiIndicate the second connection weight of target redundancy degree mechanical arm i；δi=ri-rirpFor position letter
Breath, riFor the position of the end effector of target redundancy degree mechanical arm i, rirpFor the end of preset target redundancy degree mechanical arm i
Distance vector of the actuator relative to the intended reference point；For the velocity information,For target redundancy degree mechanical arm
The speed of the end effector of i；For the acceleration information,For the end effector of target redundancy degree mechanical arm i
Acceleration；rdFor the desired locations of the intended reference point,For the desired speed of the intended reference point,For the target
The expectation acceleration of reference point；c0> 0, c1> 0 and c2> 0 is the parameter of control algolithm convergence rate, more big, represents convergence
Speed is faster.
4. cooperative control method according to any one of claim 1 to 3, which is characterized in that described in joint angles pole
Limit, the joint velocity limit, the joint velocity limit, the joint impact degree limit and the Jacobian matrix equation constraint under, root
Determine that the control signal of the target redundancy degree mechanical arm specifically includes according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR:
Setting performance indicator is impact degree norm minimum, in the joint angles limit, the joint velocity limit, joint velocity pole
Quadratic form optimum results are determined under the constraint of limit, the joint impact degree limit and the Jacobian matrix equation；
The quadratic form optimum results are converted into standard quadratic programming；
The standard quadratic programming is solved, solving result is obtained；
The control signal of the target redundancy degree mechanical arm is determined according to the solving result.
5. cooperative control method according to claim 3, which is characterized in that the quadratic form optimization are as follows:
Minimize the first formula；
First constraint condition includes:
Jacobian matrix equality constraint
Joint angles limiting constraint
Joint velocity limiting constraint
Joint velocity limiting constraint
Joint impact degree limiting constraint
First formula is
Wherein, the transposition of subscript T representing matrix and vector；Indicate the joint angles bound of target redundancy degree mechanical arm i；
Indicate the joint velocity bound of target redundancy degree mechanical arm i,Above and below the joint velocity for indicating target redundancy degree mechanical arm i
Limit,Indicate the joint impact degree bound of target redundancy degree mechanical arm i.
6. a kind of Collaborative Control device of the multi-redundant mechanical arm system based on impact degree, which is characterized in that more redundancies
Spending mechanical arm system includes more than two redundancy mechanical arms, and described two above redundancy mechanical arms are in communication topology figure
Middle connection；
The control device includes:
Target mechanical arm determining module, for determining, at least one redundancy is mechanical in described two above redundancy mechanical arms
Arm is target redundancy degree mechanical arm；
Data obtaining module, the position of the adjacent redundant degree mechanical arm for obtaining the target redundancy degree mechanical arm, speed and
Acceleration information, the adjacent redundant degree mechanical arm and the target redundancy degree mechanical arm adjacent connection in communication topology figure；
Reference point trace information obtains module, described for obtaining the reference point trace information of the target redundancy degree mechanical arm
Reference point trace information is determined by the desired trajectory of preset intended reference point and the intended reference point；
Equation construct module, for according to the position, velocity and acceleration information and the reference point trace information according to
Default rule constructs the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm；
Signal determining module is controlled, in the joint angles limit, the joint velocity limit, the joint velocity limit, joint impact
It spends under the constraint of the limit and the Jacobian matrix equation, the mesh is determined according to quadratic form optimization and standard QUADRATIC PROGRAMMING METHOD FOR
Mark the control signal of redundancy mechanical arm；
Mechanical arm control module, for according to the control signal control target redundancy degree mechanical arm, make it is described two with
On redundancy mechanical arm realize distributed collaboration movement.
7. Collaborative Control device according to claim 6, which is characterized in that the equation building module specifically includes:
Weight matrix construction unit, for constructing the corresponding weight matrix of the target redundancy degree mechanical arm, the weight matrix
In each element be each mechanical arm in the target redundancy degree mechanical arm and described two above redundancy mechanical arms
Between it is corresponding first connection weight；
First determination unit, for determining the target redundancy degree mechanical arm according to the acquisition state of the reference point trace information
Second connection weight；
Equation construction unit, for according to the position, velocity and acceleration information, the reference point trace information, the power
Weight matrix is connected to weight with described second and constructs the corresponding Jacobian matrix equation of the target redundancy degree mechanical arm.
8. Collaborative Control device according to claim 7, which is characterized in that the weight matrix construction unit specifically wraps
It includes:
First setup module, for by between the target redundancy degree mechanical arm and the target redundancy degree mechanical arm itself
One connection weight is set as 1；
Second setup module, for first between the target redundancy degree mechanical arm and adjacent redundant degree mechanical arm to be connected to power
Value is set as 1；
Third setup module, for by the target redundancy degree mechanical arm with it is non-in described two above redundancy mechanical arms
The first connection weight between itself and non-adjacent redundancy mechanical arm is set as 0；
First determination unit specifically includes:
Judgment module, for judging whether the target redundancy degree mechanical arm gets the reference point trace information；
4th setup module will be described if getting the reference point trace information for the target redundancy degree mechanical arm
Second connection weight is set as 1；
5th setup module, if the reference point trace information has not been obtained for the target redundancy degree mechanical arm, by institute
It states the second connection weight and is set as 0；
The general expression of the Jacobian matrix equation of the equation construction unit building are as follows:
Wherein
JiIndicate the Jacobian matrix of target redundancy degree mechanical arm i,WithRespectively JiSingle order and second time derivative；Table
Show the joint velocity vector of target redundancy degree mechanical arm i,WithRespectivelySingle order and second time derivative；
Indicate the number that the mechanical arm that weight is 1 is connected to first between target redundancy degree mechanical arm i；AijIndicate target redundancy degree machine
The weight matrix of tool arm i, each element in the weight matrix be target redundancy degree mechanical arm i and redundancy mechanical arm j it
Between first connection weight；ρiIndicate the second connection weight of target redundancy degree mechanical arm i；δi=ri-rirpFor position letter
Breath, riFor the position of the end effector of target redundancy degree mechanical arm i, rirpFor the end of preset target redundancy degree mechanical arm i
Distance vector of the actuator relative to the intended reference point；For the velocity information,For target redundancy degree mechanical arm
The speed of the end effector of i；For the acceleration information,For the end effector of target redundancy degree mechanical arm i
Acceleration；rdFor the desired locations of the intended reference point,For the desired speed of the intended reference point,For the target
The expectation acceleration of reference point；c0> 0, c1> 0 and c2> 0 is the parameter of control algolithm convergence rate, more big, represents convergence
Speed is faster.
9. the Collaborative Control device according to any one of claim 6 to 8, which is characterized in that the control signal determines
Module specifically includes:
Second determination unit is impact degree norm minimum for performance indicator to be arranged, in the joint angles limit, joint velocity pole
Limit, the joint velocity limit, the joint impact degree limit and the Jacobian matrix equation constraint under determine quadratic form optimization knot
Fruit；
Converting unit, for the quadratic form optimum results to be converted to standard quadratic programming；
It solves unit and obtains solving result for solving to the standard quadratic programming；
Signal determination unit is controlled, for determining the control signal of the target redundancy degree mechanical arm according to the solving result.
10. Collaborative Control device according to claim 8, which is characterized in that the control signal determining module used
Quadratic form optimization are as follows:
Minimize the first formula；
First constraint condition includes:
Jacobian matrix equality constraint
Joint angles limiting constraint
Joint velocity limiting constraint
Joint velocity limiting constraint
Joint impact degree limiting constraint
First formula is
Wherein, the transposition of subscript T representing matrix and vector；Indicate the joint angles bound of target redundancy degree mechanical arm i；
Indicate the joint velocity bound of target redundancy degree mechanical arm i,Above and below the joint velocity for indicating target redundancy degree mechanical arm i
Limit,Indicate the joint impact degree bound of target redundancy degree mechanical arm i.
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| CN112605992A (en) * | 2020-12-09 | 2021-04-06 | 中山大学 | Method and device for controlling cyclic motion of double-arm robot |
| CN112720481A (en) * | 2020-12-22 | 2021-04-30 | 中山大学 | Mechanical arm minimum motion planning and control method based on abrupt degree |
| CN112621761B (en) * | 2020-12-24 | 2022-06-24 | 中国科学院重庆绿色智能技术研究院 | Communication time lag-oriented mechanical arm system multi-stage optimization coordination control method |
| CN113442139B (en) * | 2021-06-29 | 2023-04-18 | 山东新一代信息产业技术研究院有限公司 | Robot speed control method and device based on ROS operating system |
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