多臂协调搬物系统的递阶控制

本文采用大系统理论中的递阶控制结构,由上级协调器通过修正协调因子来在线调整下级子系统(机械臂)的控制任务.利用这一结构,一旦协调因子确定,各子系统的控制量可以同时并行地进行计算,从而使全局系统的动力学控制计算任务分散化,大大提高了控制的实时性.

Hierarchical Control of Multi-Arms Coordinated Systems

Handling a rigid object with multi-robot arms is an effective way to deal wirh the case where the manipulated object is too heavy to lift by a single robot arm.However,the dynamics and control of the multi-arms coordinated system are extremely complex due to high dimension and nonlinear coupling.If the traditional centralised control schemes are adopted,it is very difficult to meet the requirement on real time ability.In this paper,a hierarchical control struc- ture of large scale systems is adopted.In the upper level,the coordinator specifies the control tasks for all sub-systems by adjusting the coordinating factor on-line. Once the coordinating factor is fixed,all computation efforts for controlling dif- ferent sub-systems can be carried out parallelly,which can improve the real time ability of coordinated control greatly.