CN107598970A - A kind of design method for the flying robot's communication system for carrying redundancy mechanical arm - Google Patents
A kind of design method for the flying robot's communication system for carrying redundancy mechanical arm Download PDFInfo
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Abstract
The invention discloses a kind of design method for the flying robot's communication system for carrying redundancy mechanical arm, step is included：1）Build the hardware platform for the flying robot's communication system for carrying redundancy mechanical arm；2）According to step 1）In the hardware communications platform built, make the communication protocol between slave computer and earth station；3）According to step 2）In communication protocol, write earth station PC ends upper computer software；4）According to step 3）In upper computer software, manipulator motion planning part pass through Labview Calling MATLAB manipulator motion plannings control complete manipulator motion control.The stabilization of powerful guarantee of the present invention communication, efficiently；Develop powerful earth station's upper computer software.The stabilization for meeting exploratory flight robot demand, efficient communication system can be designed, the stable operation of powerful guarantee flying robot, strengthens its research process, the security using process, and improve development efficiency.
Description
Technical field
Patent of the present invention belongs to the design method of flying robot's communication system, and redundancy machine is carried more particularly to one kind
The design method of the communication system of more rotor flying robots of tool arm.
Background technology
Along with the development of field in intelligent robotics, flying robot receives the concern of more and more people, particularly fills
More rotor flying robots of redundancy mechanical arm are carried, are more got most of the attention in field in intelligent robotics.The flying robot is main
It is made up of multi-rotor aerocraft and redundancy mechanical arm two parts.Wherein, multi-rotor aerocraft is because outstanding with VTOL, stabilization
Stop, be wirelessly transferred, remote aerial photography and autonomous cruise ability, being had broad application prospects in military and civil field.Small-sized rotation
Wing formula unmanned plane is wide due to having the characteristics that excellent mobility, simple mechanical structure, convenient deployment are simple with safeguarding
It is general to be applied to take photo by plane photography, electric inspection process, environmental monitoring, forest fire protection, disaster inspection, anti-terrorism lifesaving, military surveillance and battlefield
The fields such as assessment.More rotor flying robots of redundancy mechanical arm are loaded, multi-rotor aerocraft structure can be fully played
Simply, it is easily manipulated, the characteristics of flight stability is flexible, scope of activities is wide, simultaneously because there is redundancy mechanical arm and possess and hold
Row complex task, avoiding joint limits of hiding, the ability for hiding singular point, and there is certain failure tolerance.The loading redundancy
The flying robot of mechanical arm is applied to solve all kinds of work high above the ground, " spider-man " can be substituted to complete every hot mission, such as
The examination and maintenance of electric pole and signal tower, the rendering of external wall and the glass outer wall cleaning of mansion can be applied to,
High-altitude garbage-cleaning work etc., can significantly reduce work high above the ground casualty rate, and researching value is high.In order to meet further investigation flight
Machine Man's Demands, the Research Requirements of more rotor flying robots of redundancy mechanical arm are particularly loaded, conveniently monitor its fortune
Row situation, efficiently debugging, it is proposed that a kind of design side for the more rotor flying robot communication systems for carrying redundancy mechanical arm
Method.With it, the stabilization for meeting exploratory flight robot demand, efficient communication system, powerful guarantee can be designed
The stable operation of flying robot, strengthen its research process, the security using process, and improve development efficiency.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of flying machine for carrying redundancy mechanical arm
The design method of people's communication system.
In order to realize above-mentioned Practical Method of Designing, the technical scheme of use comprises the steps of：
A kind of design method for the flying robot's communication system for carrying redundancy mechanical arm, is comprised the steps of：
1) hardware platform for the flying robot's communication system for carrying redundancy mechanical arm is built, including builds a carrying
The flying robot of redundancy mechanical arm configures wireless serial communication module and wireless image transmission module as slave computer, by nothing
Line serial communication modular and wireless image transmission module carry are in slave computer and earth station's PC computer ends；
2) according to the hardware communications platform built in step 1), the communication protocol between slave computer and earth station is made,
Including formulating complete data frame format, wireless serial communication module uses full duplex serial communication mode；
3) according to the communication protocol in step 2), earth station PC ends upper computer software is write, uses Labview and MATLAB
Hybrid programming, major function configure including serial ports, flying robot's parameter testing, real-time condition display, manipulator motion planning,
Display and control, camera image are shown；
4) Labview Calling MATLAB machines are passed through according to the upper computer software in step 3), manipulator motion planning part
Tool arm motion planning control, the joint angle of required by task redundancy mechanical arm is completed by Quadratic Programming Solution, utilizes MATLAB
The joint angle solved is fed back into host computer procedure, and the next generator terminal is sent commands to by radio communication, completes mechanical arm fortune
Dynamic control.
Further, the flying robot for carrying redundancy mechanical arm is by multi-rotor aerocraft and light-type redundancy
Spend mechanical arm composition；Wherein multi-rotor aerocraft by motor, frame, control circuit, wireless communication module, camera module and
Wireless image transmission module is formed, and redundancy mechanical arm is made up of steering wheel, end effector and corresponding mechanical part.
Further, the wireless communication module is communicated using wireless serial, can be realized between earth station and slave computer
Point-to-point transparent transmission, use full duplex serial transmission mode, long transmission distance, strong antijamming capability.
Further, the wireless image transmission module uses WLAN technical transmission images, and transmission rate is fast, can realize farther out
Apart from facile transport high definition digital image.
Further, described communication protocol uses following data frame format：
Frame head, the beginning of mark one frame data；
Order mark, show the function of this frame data；
Data are, it is necessary to the data changed or shown；
Verify and for judging whether error of transmission, reject error data frame；
Postamble, the end of mark one frame data；
Data division in the data frame format can be as needed using data types such as integer or floating types.
Further, the upper computer software uses Labview and MATLAB hybrid programmings, and uses the communication protocol
Communicated with slave computer；Wherein, human-computer interaction interface is write using Labview, major function configures including serial ports, flying machine
Device people parameter testing, real-time condition display；The related function of manipulator motion planning is write using MATLAB, passes through Labview
Manipulator motion planning, display and control are realized in Calling MATLAB service.
Further, the human-computer interaction interface of the upper computer software has 5 following plates：
Serial ports configures plate, including serial ports selection, Configuration of baud rate；
Flying robot's parameter testing plate, including aircraft parameters debugging plate and mechanical arm parameter testing plate；Fly
Row device parameter testing plate is divided into posture ring, position ring and height ring three parts；Wherein, posture ring includes double closed-loop PID parameter
Adjustment, parameter initialization set function, and height ring includes double closed-loop PID parameter adjustment, parameter initialization is set, target component is set
Function is put, position ring includes parameter initialization setting, target component sets function；Mechanical arm parameter testing plate has individually control
Make each joint and beat angular amount function；
Flying robot's real-time condition display plate, display content include receiver PWM input captures value, Master control chip
PWM output quantities, flight attitude, flying height, GPS longitudes and latitudes, each closed loop PID input quantities, output quantity, each joint Da Jiao of mechanical arm
Amount, end effector coordinate；
Manipulator motion planning controls plate, including coordinates of targets input control, mechanical arm tail end TRAJECTORY CONTROL, automatic folder
Take control function；
Camera image shows plate, the image that real-time display flying robot's camera photographs.
Further, the manipulator motion planning control plate passes through labview hybrid programming Calling MATLAB redundancies
Spend mechanical arm planning procedure and complete redundancy mechanical arm mission planning, return to mechanical arm and perform task joint angle；Redundancy machinery
Arm control algolithm is realized by manipulator motion planning scheme and Novel Algorithm；The motion planning scheme of redundancy mechanical arm
Realized by redundancy mechanical arm inverse kinematics, wherein inverse kinematics equation can be described as：
F (θ)=r
Wherein r is the desired trajectory of mechanical arm tail end, and f () is redundancy mechanical arm joint angles to the non-of end orbit
Linear Mapping equation；Inverse kinematics equation of the redundancy mechanical arm on velocity layer can be obtained to the derivation simultaneously of equation both sides
Wherein, J (θ) ∈ Rm×nFor in real number field m × n tie up matrix, J (θ) be redundancy mechanical arm Jacobian matrix, n
The number of degrees of freedom, of mechanical arm is represented, m represents the space dimensionality of mechanical arm tail end track,WithRespectively redundancy mechanical arm closes
Save the derivative of angle and end orbit on the time；According to different purpose of design and index request, by above-mentioned inverse kinematics
Problem is converted to affined time-varying convex quadratic programming problem, and specific formula is：
S.t.Ax=b
Cx≤d
Wherein Ax=b is the corresponding equality constraint for completing required by task, and Cx≤d is inequality constraints,WithTo correspond to
The both-end inequality constraints of joint angle；According to the algorithm of quadratic programming, the corresponding quadratic form of Neural Networks Solution can be designed most
Excellent solution；According to joint angle state of the quadratic form optimal solution solved as mechanical arm, called by hybrid programming by optimal pass
Save angle angle feed-back and return upper computer software, and slave computer flying robot, control flight are transferred to by corresponding host-host protocol
Robot completes corresponding control task.
The earth station of the present invention sends commands to slave computer according to communication protocol, after slave computer parsing, will change its motion
State, or modification special parameter；Slave computer persistently sends data to earth station simultaneously, and earth station is according to communication protocol to data
Frame is parsed, and valid data are shown on the screen of PC ends, convenient monitoring, analysis slave computer operation conditions, makes debugging higher
Effect.Meanwhile the image that slave computer is collected camera by wireless image transmission module is sent to earth station PC ends, earth station's docking
The view data received is parsed, handled, the display image on the screen of PC ends, and auxiliary slave computer completes specific action.
Compared with prior art：The design side of the flying robot's communication system disclosed by the invention for carrying redundancy mechanical arm
Method, has the communication protocol of science, the stabilization of powerful guarantee communication, efficiently；Develop powerful earth station's host computer
Software.With it, the stabilization for meeting exploratory flight robot demand, efficient communication system can be designed, try hard to keep
Hinder the stable operation of flying robot, strengthen its research process, the security using process, and improve development efficiency.
Brief description of the drawings
Fig. 1 is more rotor flying robot models of the loading redundancy mechanical arm of the embodiment of the present invention；
Fig. 2 is the communication protocol schematic diagram of the embodiment of the present invention；
Fig. 3 is the communication flow diagram of the embodiment of the present invention；
Fig. 4 is earth station's upper computer software interface of the embodiment of the present invention；
Fig. 5 is the schematic flow sheet of the embodiment of the present invention；
It is shown in figure：1- motors；2- frames；3- control devices；4- camera devices；5- steering wheels；6- end effectors；7-
Mechanical part；8- serial ports configures plate；9- flying robot's parameter testing plates；10- flying robot's real-time condition display plates
Block；11- manipulator motion plannings control plate；12- camera images show plate.
Embodiment
Patent of the present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, embodiment can not be herein
Repeat one by one, but therefore the embodiment invented is not defined in following examples.
A kind of design method for the flying robot's communication system for carrying redundancy mechanical arm, is comprised the steps of：
1) hardware platform for the flying robot's communication system for carrying redundancy mechanical arm is built, including builds a carrying
The flying robot of redundancy mechanical arm configures wireless serial communication module and wireless image transmission module as slave computer, by nothing
Line serial communication modular and wireless image transmission module carry are in slave computer and earth station's PC computer ends；
2) according to the hardware communications platform built in step 1), the communication protocol between slave computer and earth station is made,
Including formulating complete data frame format, wireless serial communication module uses full duplex serial communication mode；
3) according to the communication protocol in step 2), earth station PC ends upper computer software is write, uses Labview and MATLAB
Hybrid programming, major function configure including serial ports, flying robot's parameter testing, real-time condition display, manipulator motion planning,
Display and control, camera image are shown；
4) Labview Calling MATLAB machines are passed through according to the upper computer software in step 3), manipulator motion planning part
Tool arm motion planning control, the joint angle of required by task redundancy mechanical arm is completed by Quadratic Programming Solution, utilizes MATLAB
The joint angle solved is fed back into host computer procedure, and the next generator terminal is sent commands to by radio communication, completes mechanical arm fortune
Dynamic control.
Fig. 1 is the more rotor flying robots for loading redundancy mechanical arm, mainly by multi-rotor aerocraft and redundancy
Mechanical arm forms.Wherein multi-rotor aerocraft is made up of motor 1, frame 2, control circuit 3 and camera module 4, control electricity
Wireless communication module, wireless image transmission module are included in road 3；Redundancy mechanical arm part is by steering wheel 5, end effector 6 and phase
The machine structural parts 7 answered form.
The wireless communication module is communicated using wireless serial, can be realized point-to-point between earth station and slave computer
Bright transmission, use full duplex serial transmission mode, long transmission distance, strong antijamming capability.
The wireless image transmission module uses WLAN technical transmission images, and transmission rate is fast, can realize more remote smoothness
Transmission of high-definition digital picture.
Fig. 2 is communication protocol schematic diagram, and the data frame format of use is divided into following 5 part：
Frame head, the beginning of mark one frame data；
Order mark, show the function of this frame data；
Data are, it is necessary to the data changed or shown；
Verify and for judging whether error of transmission, reject error data frame；
Postamble, the end of mark one frame data.
Fig. 3 is communication flow diagram.Earth station sends commands to slave computer according to communication protocol, after slave computer parsing, will change
Become its motion state, or modification special parameter；Slave computer persistently sends data to earth station simultaneously, and earth station is according to communication protocols
View is parsed to data frame, and valid data are shown on the screen of PC ends, convenient monitoring, analysis slave computer operation conditions, is made
Debug more efficient.Meanwhile the image that slave computer is collected camera by wireless image transmission module is sent to earth station PC ends, ground
Face station is parsed to the view data received, handled, the display image on the screen of PC ends, and auxiliary slave computer is completed specific dynamic
Make.
Fig. 4 is earth station's upper computer software interface, has 5 following plates：
1) serial ports configuration plate 8, including serial ports selection, Configuration of baud rate etc.；
2) flying robot's parameter testing plate 9, including aircraft parameters debugging plate and mechanical arm parameter testing plate；
Aircraft parameters debugging plate is divided into posture ring, position ring and height ring three parts；Wherein, posture ring is joined comprising double closed-loop PID
The functions such as number adjustment, parameter initialization setting, height ring includes double closed-loop PID parameter adjustment, parameter initialization is set, target ginseng
The functions such as number setting, position ring include the functions such as parameter initialization is set, target component is set；Mechanical arm parameter testing plate has
Have and individually control each joint to beat the functions such as angular amount；
3) flying robot's real-time condition display plate 10, display content include receiver PWM input capture values, main control
Chip PWM output quantities, flight attitude, flying height, GPS longitudes and latitudes, each closed loop PID input quantities, output quantity, each joint of mechanical arm
Beat angular amount, end effector coordinate etc.；
4) manipulator motion planning control plate 11, including coordinates of targets input control, mechanical arm tail end TRAJECTORY CONTROL, from
The functions such as dynamic gripping control.
5) camera image shows plate 12, the image that real-time display flying robot's camera photographs.
Specifically, the manipulator motion planning control plate passes through labview hybrid programming Calling MATLAB redundancies
Spend mechanical arm planning procedure and complete redundancy mechanical arm mission planning, return to mechanical arm and perform task joint angle；Redundancy machinery
Arm control algolithm is realized by manipulator motion planning scheme and Novel Algorithm；The motion planning scheme of redundancy mechanical arm
Realized by redundancy mechanical arm inverse kinematics, wherein inverse kinematics equation can be described as：
F (θ)=r
Wherein r is the desired trajectory of mechanical arm tail end, and f () is redundancy mechanical arm joint angles to the non-of end orbit
Linear Mapping equation；Inverse kinematics equation of the redundancy mechanical arm on velocity layer can be obtained to the derivation simultaneously of equation both sides
Wherein, J (θ) ∈ Rm×nFor in real number field m × n tie up matrix, J (θ) be redundancy mechanical arm Jacobian matrix, n
The number of degrees of freedom, of mechanical arm is represented, m represents the space dimensionality of mechanical arm tail end track,WithRespectively redundancy mechanical arm closes
Save the derivative of angle and end orbit on the time；According to different purpose of design and index request, by above-mentioned inverse kinematics
Problem is converted to affined time-varying convex quadratic programming problem, and specific formula is：
S.t.Ax=b
Cx≤d
Wherein Ax=b is the corresponding equality constraint for completing required by task, and Cx≤d is inequality constraints,WithTo correspond to
The both-end inequality constraints of joint angle；According to the algorithm of quadratic programming, the corresponding quadratic form of Neural Networks Solution can be designed most
Excellent solution；According to joint angle state of the quadratic form optimal solution solved as mechanical arm, called by hybrid programming by optimal pass
Save angle angle feed-back and return upper computer software, and slave computer flying robot, control flight are transferred to by corresponding host-host protocol
Robot completes corresponding control task.
Fig. 5 is the whole design idea of patent of the present invention.The hardware platform of flying robot's communication system is built, including is taken
The mechanism model of flying robot as shown in Figure 1 is built, redundancy mechanical arm is symmetrically fixed on to rotation by mechanical means
The body center of rotor aircraft, camera and head part are placed on the front portion of aircraft；Configure wireless serial communication module
With wireless image transmission module, by wireless serial communication module and wireless image transmission module carry in slave computer and earth station's PC computer ends,
Complete building for hardware platform.Communication protocol as shown in Figure 2 is designed, according to the actual requirements, designs earth station as shown in Figure 4
Host computer, there is serial ports configuration, flying robot's parameter testing, real-time condition display, manipulator motion planning, display and control
System, the function that camera image is shown.As shown in figure 3, specific communication process is：Earth station sends commands to according to communication protocol
Slave computer, after slave computer parsing, its motion state, or modification special parameter will be changed；Slave computer persistently sends data simultaneously
To earth station, earth station is parsed according to communication protocol to data frame, and valid data are shown on the screen of PC ends, convenient prison
Survey, analysis slave computer operation conditions, make debugging more efficient.Meanwhile slave computer is collected camera by wireless image transmission module
Image be sent to earth station PC ends, earth station is parsed to the view data received, handled, and is shown on the screen of PC ends
Image, auxiliary slave computer complete specific action.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
Other various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention
All any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (8)
1. a kind of design method for the flying robot's communication system for carrying redundancy mechanical arm, it is characterised in that comprising following
Step：
1) hardware platform for the flying robot's communication system for carrying redundancy mechanical arm is built, including builds a carrying redundancy
The flying robot of mechanical arm is spent as slave computer, and configures wireless serial communication module and wireless image transmission module, will wirelessly be gone here and there
Port communications module and wireless image transmission module carry are in slave computer and earth station's PC computer ends；
2) according to the hardware communications platform built in step 1), the communication protocol between slave computer and earth station is made, including
Complete data frame format is formulated, wireless serial communication module uses full duplex serial communication mode；
3) according to the communication protocol in step 2), earth station PC ends upper computer software is write, is mixed using Labview with MATLAB
Programming, major function configure including serial ports, flying robot's parameter testing, real-time condition display, manipulator motion planning, display
And control, camera image are shown；
4) Labview Calling MATLAB mechanical arms are passed through according to the upper computer software in step 3), manipulator motion planning part
Motion planning control, the joint angle of required by task redundancy mechanical arm is completed by Quadratic Programming Solution, will be asked using MATLAB
The joint angle feedback host computer procedure solved, and the next generator terminal is sent commands to by radio communication, complete manipulator motion control
System.
2. according to the design method of flying robot's communication system of the carrying redundancy mechanical arm described in claim 1, its
It is characterised by, the flying robot for carrying redundancy mechanical arm is by multi-rotor aerocraft and light-type redundancy mechanical arm
Composition；Wherein multi-rotor aerocraft is by motor, frame, control circuit, wireless communication module, camera module and wireless image transmission
Module is formed, and redundancy mechanical arm is made up of steering wheel, end effector and corresponding mechanical part.
3. the design method of the flying robot's communication system according to claim 2 for carrying redundancy mechanical arm, it is special
Sign is that the wireless communication module is communicated using wireless serial, can realize point-to-point between earth station and slave computer
Bright transmission, use full duplex serial transmission mode, long transmission distance, strong antijamming capability.
4. the design method of the flying robot's communication system according to claim 2 for carrying redundancy mechanical arm, it is special
Sign is that the wireless image transmission module uses WLAN technical transmission images, and transmission rate is fast, can realize more remote smooth biography
Defeated high definition digital image.
5. the design method of the flying robot's communication system according to claim 1 for carrying redundancy mechanical arm, it is special
Sign is that described communication protocol uses following data frame format：
Frame head, the beginning of mark one frame data；
Order mark, show the function of this frame data；
Data are, it is necessary to the data changed or shown；
Verify and for judging whether error of transmission, reject error data frame；
Postamble, the end of mark one frame data；
Data division in the data frame format can be as needed using data types such as integer or floating types.
6. the design method of the flying robot's communication system according to claim 5 for carrying redundancy mechanical arm, it is special
Sign is：The upper computer software uses Labview and MATLAB hybrid programmings, and is entered using the communication protocol with slave computer
Row communication；Wherein, human-computer interaction interface is write using Labview, major function is configured including serial ports, and flying robot's parameter is adjusted
Examination, real-time condition display；The related function of manipulator motion planning is write using MATLAB, passes through Labview Calling MATLABs
Manipulator motion planning, display and control are realized in service.
7. the design method of the flying robot's communication system according to claim 6 for carrying redundancy mechanical arm, it is special
Sign is：The human-computer interaction interface of the upper computer software has 5 following plates：
Serial ports configures plate, including serial ports selection, Configuration of baud rate；
Flying robot's parameter testing plate, including aircraft parameters debugging plate and mechanical arm parameter testing plate；Aircraft
Parameter testing plate is divided into posture ring, position ring and height ring three parts；Wherein, posture ring include double closed-loop PID parameter adjustment,
Parameter initialization sets function, and height ring includes double closed-loop PID parameter adjustment, parameter initialization is set, target component sets work(
Can, position ring includes parameter initialization setting, target component sets function；Mechanical arm parameter testing plate has individually control each
Angular amount function is beaten in joint；
Flying robot's real-time condition display plate, display content include receiver PWM input captures value, Master control chip PWM
Output quantity, flight attitude, flying height, GPS longitudes and latitudes, each closed loop PID input quantities, output quantity, each joint of mechanical arm beat angular amount,
End effector coordinate；
Manipulator motion planning controls plate, including coordinates of targets input control, mechanical arm tail end TRAJECTORY CONTROL, automatic clamping control
Function processed；
Camera image shows plate, the image that real-time display flying robot's camera photographs.
8. the design method of the flying robot's communication system according to claim 7 for carrying redundancy mechanical arm, it is special
Sign is：The manipulator motion planning control plate is advised by labview hybrid programming Calling MATLABs redundancy mechanical arm
Draw program and complete redundancy mechanical arm mission planning, return to mechanical arm and perform task joint angle；Redundancy mechanical arm control algolithm
Realized by manipulator motion planning scheme and Novel Algorithm；The motion planning scheme of redundancy mechanical arm passes through redundancy
Mechanical arm inverse kinematics realizes that wherein inverse kinematics equation can be described as：
F (θ)=r
Wherein r is the desired trajectory of mechanical arm tail end, and f () is redundancy mechanical arm joint angles to the non-linear of end orbit
Mapping equation；Inverse kinematics equation of the redundancy mechanical arm on velocity layer can be obtained to the derivation simultaneously of equation both sides
<mrow>
<mi>J</mi>
<mrow>
<mo>(</mo>
<mi>&theta;</mi>
<mo>)</mo>
</mrow>
<mover>
<mi>&theta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mo>=</mo>
<mover>
<mi>r</mi>
<mo>&CenterDot;</mo>
</mover>
</mrow>
Wherein, J (θ) ∈ Rm×nMatrix is tieed up for m × n in real number field, J (θ) is the Jacobian matrix of redundancy mechanical arm, and n is represented
The number of degrees of freedom, of mechanical arm, m represent the space dimensionality of mechanical arm tail end track,WithRespectively redundancy mechanical arm joint angle
Degree and derivative of the end orbit on the time；According to different purpose of design and index request, by above-mentioned Inverse Kinematics Problem
Affined time-varying convex quadratic programming problem is converted to, specific formula is：
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
<mo>.</mo>
<mfrac>
<mrow>
<msup>
<mi>x</mi>
<mi>T</mi>
</msup>
<mi>W</mi>
<mi>x</mi>
</mrow>
<mn>2</mn>
</mfrac>
<mo>+</mo>
<msup>
<mi>c</mi>
<mi>T</mi>
</msup>
<mi>x</mi>
</mrow>
S.t. Ax=b
Cx≤d
Wherein Ax=b is the corresponding equality constraint for completing required by task, and Cx≤d is inequality constraints,WithFor corresponding joint
The both-end inequality constraints at angle；According to the algorithm of quadratic programming, the corresponding quadratic form optimal solution of Neural Networks Solution can be designed；
According to joint angle state of the quadratic form optimal solution solved as mechanical arm, called by hybrid programming by optimal joint angle angle
Degree feeds back to upper computer software, and is transferred to slave computer flying robot by corresponding host-host protocol, controls flying robot
Complete corresponding control task.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108681279A (en) * | 2018-05-15 | 2018-10-19 | 华南理工大学 | A kind of design method for the flying robot's power supply driver carrying redundancy mechanical arm |
| CN108964186A (en) * | 2018-07-24 | 2018-12-07 | 华南理工大学 | The design method of modular power applied to the flying robot for carrying redundant mechanical arm |
| CN109145479A (en) * | 2018-08-31 | 2019-01-04 | 北京深度奇点科技有限公司 | The automatic evolutionary system of two-link robotic manipulator net space entity of cloud deployment |
| CN113070885A (en) * | 2021-03-12 | 2021-07-06 | 国网浙江永康市供电有限公司 | Method for live working of unmanned aerial vehicle carrying insulating mechanical arm |
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| CN108681279A (en) * | 2018-05-15 | 2018-10-19 | 华南理工大学 | A kind of design method for the flying robot's power supply driver carrying redundancy mechanical arm |
| CN108964186A (en) * | 2018-07-24 | 2018-12-07 | 华南理工大学 | The design method of modular power applied to the flying robot for carrying redundant mechanical arm |
| CN108964186B (en) * | 2018-07-24 | 2021-01-19 | 华南理工大学 | Design method of modular power supply applied to flying robot with redundant mechanical arm |
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