| 多机械臂系统分布式主从同步控制算法与仿真 |
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| 引用本文： | 赵阁,;赵东亚,;赵永瑞,;崔宝华,;赵文博.多机械臂系统分布式主从同步控制算法与仿真[J].山东科技大学学报(自然科学版),2014(4):99-104. |
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| 作者姓名： | 赵阁 ;赵东亚 ;赵永瑞 ;崔宝华 ;赵文博 |
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| 作者单位： | [1]中国石油大学华东化学工程学院,山东青岛266580; [2]中国石油大学华东机电工程学院,山东青岛266580; [3]青岛美光机械有限公司,山东青岛266510 |
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| 基金项目： | 国家自然科学基金项门（61004080,61273188）;山东省自然科学基金项目（ZR2011FM003,ZR2011EEQ023）;山东省泰山学者建设经费项目;中央高校基本科研业务费专项资金项目（14CX02063A） |
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| 摘 要： | 针对多机械臂系统同步控制问题,提出一种分布式多机械臂同步控制算法。运用通信拓扑学的知识,定义主从机械臂间同步误差;基于无向图放松约束条件,设计同步控制算法;根据李雅普诺夫函数进行了稳定性分析。2自由度多机械臂系统仿真表明:应用该控制算法,主从机械臂间的同步误差能渐近收敛到零;与集中式同步控制相比具有更高的稳定性。
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| 关 键 词： | 多机械臂系统 主从控制 通信拓扑 同步误差 同步控制 分布式控制 |
Leader-follower Based Disitributed Synchronous Control and Simulation for Multi-manipulators System |
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| Institution: | Zhao Ge ,Zhao Dongya ,Zhao Yongrui,Cui Baohua ,Zhao Wenbo (1. College of Chemical Engineering,China University of Petroleum, Qingdao, Shandong 266580 ,China; 2. College of Mechanical and Electronic Engineering,China University of Petroleum, Qingdao,Shandong 266580, China 3. Qingdao Meiguang Machinery Co. Ltd,Qingdao,Shandong 266510,China) |
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| Abstract: | This paper developed a novel distributed synchronous control algorithm for multiple robotic manipulator systems. Based on the manipulator＇s dynamic properties and leader-following topologies, a new synchronous control algorhhm was proposed for multi-manipulator systems and the limitations were reduced. The corresponding stability of the proposed approach was analyzed by using Lyapunov methods. The simulation results of a two-degree multi- manipulator system show that the synchronous error can converge to zero asymptotically. Compared with centralized synchronous control method, the proposed approach is more stable. |
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| Keywords: | multi-manipulators system leader-follower control communication topology synchronous error~ synchro-nous control distributed control |
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