Double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition

Double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition

The invention discloses a double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition. The method comprises the following steps that a target task of double arms is given; a plurality of feature points are selected for the double arms; a kinematics equation of...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: LIU FENGPU, ZHANG QIN
Format: Patent
Sprache:chi ; eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page
container_issue
container_start_page
container_title
container_volume
creator LIU FENGPU
ZHANG QIN
description The invention discloses a double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition. The method comprises the following steps that a target task of double arms is given; a plurality of feature points are selected for the double arms; a kinematics equation of a double-arm system is established, and the position and speed of control points of the double arms are calculated; a double-arm self-obstacle-avoidance task is established through the control points, a joint speed general solution equation of the redundant mechanical arms is established, and a dynamic decision factor and the double-arm self-obstacle-avoidance task are added; and the two arms complete the target task. According to the dynamic decision control method for redundant double-arm kinematics task decomposition, different control strategies can be adopted according to real-time motion states of the double arms, so that the double arms complete the given target task on the basis of ensuring safety. 本发明公开了一种
format Patent
fullrecord <record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_CN113084797A</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>CN113084797A</sourcerecordid><originalsourceid>FETCH-epo_espacenet_CN113084797A3</originalsourceid><addsrcrecordid>eNqNikEKwjAQAHvxIOof1gcULBVqj1IVT568l22y0mCyG5Kt4O-t4AM8zcDMshhOMg2eSkwBEtmJLbJCIDMiO4MevsG-GYMzYEQiJVT3otlZk_h51VEsDJjJgjAo5idYMhKiZKdOeF0sHugzbX5cFdvL-d5dS4rSU45oiEn77lZV9e6wb9rmWP_zfACKXD6f</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>Double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition</title><source>esp@cenet</source><creator>LIU FENGPU ; ZHANG QIN</creator><creatorcontrib>LIU FENGPU ; ZHANG QIN</creatorcontrib><description>The invention discloses a double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition. The method comprises the following steps that a target task of double arms is given; a plurality of feature points are selected for the double arms; a kinematics equation of a double-arm system is established, and the position and speed of control points of the double arms are calculated; a double-arm self-obstacle-avoidance task is established through the control points, a joint speed general solution equation of the redundant mechanical arms is established, and a dynamic decision factor and the double-arm self-obstacle-avoidance task are added; and the two arms complete the target task. According to the dynamic decision control method for redundant double-arm kinematics task decomposition, different control strategies can be adopted according to real-time motion states of the double arms, so that the double arms complete the given target task on the basis of ensuring safety. 本发明公开了一种</description><language>chi ; eng</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; HAND TOOLS ; MANIPULATORS ; PERFORMING OPERATIONS ; PORTABLE POWER-DRIVEN TOOLS ; TRANSPORTING</subject><creationdate>2021</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&amp;date=20210709&amp;DB=EPODOC&amp;CC=CN&amp;NR=113084797A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76290</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&amp;date=20210709&amp;DB=EPODOC&amp;CC=CN&amp;NR=113084797A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>LIU FENGPU</creatorcontrib><creatorcontrib>ZHANG QIN</creatorcontrib><title>Double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition</title><description>The invention discloses a double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition. The method comprises the following steps that a target task of double arms is given; a plurality of feature points are selected for the double arms; a kinematics equation of a double-arm system is established, and the position and speed of control points of the double arms are calculated; a double-arm self-obstacle-avoidance task is established through the control points, a joint speed general solution equation of the redundant mechanical arms is established, and a dynamic decision factor and the double-arm self-obstacle-avoidance task are added; and the two arms complete the target task. According to the dynamic decision control method for redundant double-arm kinematics task decomposition, different control strategies can be adopted according to real-time motion states of the double arms, so that the double arms complete the given target task on the basis of ensuring safety. 本发明公开了一种</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>HAND TOOLS</subject><subject>MANIPULATORS</subject><subject>PERFORMING OPERATIONS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2021</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNikEKwjAQAHvxIOof1gcULBVqj1IVT568l22y0mCyG5Kt4O-t4AM8zcDMshhOMg2eSkwBEtmJLbJCIDMiO4MevsG-GYMzYEQiJVT3otlZk_h51VEsDJjJgjAo5idYMhKiZKdOeF0sHugzbX5cFdvL-d5dS4rSU45oiEn77lZV9e6wb9rmWP_zfACKXD6f</recordid><startdate>20210709</startdate><enddate>20210709</enddate><creator>LIU FENGPU</creator><creator>ZHANG QIN</creator><scope>EVB</scope></search><sort><creationdate>20210709</creationdate><title>Double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition</title><author>LIU FENGPU ; ZHANG QIN</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN113084797A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2021</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>HAND TOOLS</topic><topic>MANIPULATORS</topic><topic>PERFORMING OPERATIONS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>LIU FENGPU</creatorcontrib><creatorcontrib>ZHANG QIN</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>LIU FENGPU</au><au>ZHANG QIN</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition</title><date>2021-07-09</date><risdate>2021</risdate><abstract>The invention discloses a double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition. The method comprises the following steps that a target task of double arms is given; a plurality of feature points are selected for the double arms; a kinematics equation of a double-arm system is established, and the position and speed of control points of the double arms are calculated; a double-arm self-obstacle-avoidance task is established through the control points, a joint speed general solution equation of the redundant mechanical arms is established, and a dynamic decision factor and the double-arm self-obstacle-avoidance task are added; and the two arms complete the target task. According to the dynamic decision control method for redundant double-arm kinematics task decomposition, different control strategies can be adopted according to real-time motion states of the double arms, so that the double arms complete the given target task on the basis of ensuring safety. 本发明公开了一种</abstract><oa>free_for_read</oa></addata></record>
fulltext fulltext_linktorsrc
identifier
ispartof
issn
language chi ; eng
recordid cdi_epo_espacenet_CN113084797A
source esp@cenet
subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title Double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-02T15%3A33%3A41IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-epo_EVB&rft_val_fmt=info:ofi/fmt:kev:mtx:patent&rft.genre=patent&rft.au=LIU%20FENGPU&rft.date=2021-07-09&rft_id=info:doi/&rft_dat=%3Cepo_EVB%3ECN113084797A%3C/epo_EVB%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true