Networked robot cooperative control method, device, equipment and storage medium
1. A networked robot cooperative control method is characterized by comprising the following steps:
according to the robot dynamics, establishing a dynamic equation of a 2-degree-of-freedom Eulerian Lagrange robot with unknown disturbance terms;
establishing a communication directed topological graph among the machine arms according to the knowledge of graph theory, wherein the communication directed topological graph is used for describing information interaction among the machine arms;
designing constraint conditions and corresponding constraint functions according to the physical structure of the mechanical arm and the external environment limitation conditions of production;
according to the kinetic equation and the communication directed topological graph, establishing a cooperative control algorithm of the networked Eulerian Lagrange robot under the condition of state constraint, wherein the cooperative control algorithm comprises the following steps: a control algorithm of an estimation layer and a control algorithm of a local control layer;
according to the control algorithm of the estimation layer, the communication requirement among the robots is realized, and the track of the target mechanical arm is obtained in real time;
and according to a control algorithm of the local control layer, each joint of the robot arm is tracked to the joint position estimated by the estimation layer through the input of the controller, and each joint is within the constraint condition.
2. The networked robot cooperative control method according to claim 1, wherein the expression of the kinetic equation is:
wherein i ∈ {1, 2...., 8} represents a serial number of the robot, Mi(qi) A positive constant-mass matrix is represented,denotes the Coriolis matrix and the centrifuge term, gi(qi) Representing a matrix of gravitation, di(t) represents an input disturbance; tau isiRepresenting a control input, qi、Andrepresenting position, velocity and acceleration in joint space, respectively.
3. The networked robot cooperative control method according to claim 1, wherein the communication directed topology map is G ═ { V, E, a }, where V ═ a }, where1,...,vNDenotes a set of vertices, i.e. the number of robot arms, E ═ V × V denotes a set of edges connecting any two robots; a ═ aij]Representing a weight matrix with contiguous elements, where aijThe element of the ith row and the jth column of the weight matrix is represented, if the jth robot and the ith robot have connection, aijNot equal to 0, otherwise aij0; and the ith robot itself has no self-circulation connection, i.e. aii0, representing the energy transferred by each mechanical arm by the size of the adjacent element, and determining a Laplace matrix L of the communication directed topology map according to a defined weight matrix of the adjacent elements, wherein the Laplace matrix L is defined as: l ═ Lij]Wherein l isijThe element of the ith row and the jth column of the L matrix is represented by a square matrix, when i is equal to j,otherwise lij＝-aijDetermining a diagonal weight matrix B of a communication directed topological graph according to the communication condition between each robot arm and a corresponding tracking target thereof, wherein the diagonal weight matrix B is defined as: b ═ diag (B)1,...,bN) Wherein b isiN is an element in the B matrix; it is composed ofB, according to the communication condition between the robot arm and the tracking target, if the ith robot can directly receive the information of the tracking target, biIs a number greater than 0, otherwise bi＝0。
4. The networked robot cooperative control method according to claim 1, wherein the step of designing constraint conditions and corresponding constraint functions according to the physical structure of the robot arm itself and external environment constraints of production comprises:
defining a lower bound q for a single joint of a robotic armil(t) and an upper constraint bound qiu(t) satisfying the following relation:
qil(t)＜qi(t)＜qiu(t),i＝1,...,n
defining the actual quantity q of the jointi(t) and estimatorAn error ofThe expression is as follows:
satisfies the following formula:
by designing a type of attenuation function, the error value is within a designed constraint range, so that the movement amount of the joint is within a set upper and lower constraint bounds, and the attenuation function ζ (t) is as follows:
ζ(t)＝(ζ0-ζ∞)e-ωt+ζ∞
therein, ζ0The initial value of the attenuation is required to be greater thanInitial value of the joint variable, ζ∞Represents a final value of attenuation, satisfies 0 < ζ∞＜1，e-ωtRepresents a decay rate where ω > 0 is a predetermined constant, and the decay function satisfies ζ which is an initial value from the decay0Exponential decrease to a decaying final value ζ∞；
According to the form of the attenuation function, a constraint function zeta of the position and the speed is respectively set1(t) and ζ2(t)：
Therein, ζ10、ζ20Initial value, ζ, representing attenuation, which needs to be greater than the initial values of all joint variables1∞、ζ2∞Represents a final value of attenuation, satisfies 0 < ζ1∞＜1,0＜ζ2∞＜1，Represents the decay rate, where1＞0,ω2> 0 is a predetermined constant, the decay function satisfies the initial value ζ from decay10、ζ20Exponential decrease to a decaying final value ζ1∞、ζ2∞；
Error from attenuation function of positionUpper bound ρ ofiuAnd lower bound ρilThe expression is:
5. the networked robot cooperative control method according to claim 1, wherein the control algorithm of the estimation layer is:
wherein the content of the first and second substances,and uiRespectively inputting the joint position, the joint speed and the control input of the joint estimated by the ith mechanical arm; a isij、biRespectively, the adjacent elements involved in the graph theory for the ith mechanical arm and the diagonal elements of the weight matrix B; u. of0The acceleration value of the target mechanical arm is obtained; lambda [ alpha ]1A normal number set artificially; u. ofjIs the control input of the jth robot, j is 1, N is the number of robots,the error forms of the position and the speed of the ith mechanical arm are shown respectively, and the mathematical expressions are respectively as follows:
6. the networked robot cooperative control method according to claim 4, wherein a control algorithm of the local control layer is:
wherein, taui(t) is the control input, λ, of the local control layer2A normal number set artificially; | | · | | represents the norm of the euclidean norm for the vector;ψi(t) auxiliary variable expressions in sec-form and tan-form, respectively, as:
therein, ζ2(t) is a constraint function on the velocity state of the arm, εiAnd (t) is the speed error corresponding to the ith mechanical arm.
7. A networked robot cooperative control apparatus is characterized by comprising the following modules:
the equation construction module is used for establishing a kinetic equation of the 2-degree-of-freedom Eulerian Lagrange robot with an unknown disturbance term according to the robot dynamics;
the directed graph building module is used for building a communication directed topological graph among the machine arms according to the knowledge of graph theory, and the communication directed topological graph is used for describing information interaction among the machine arms;
the constraint condition design module is used for designing constraint conditions and corresponding constraint functions according to the physical structure of the mechanical arm and the external environment limitation conditions of production;
the algorithm construction module is used for establishing a cooperative control algorithm of the networked Eulerian Lagrange robot under the state constraint according to the kinetic equation and the communication directed topological graph, and the cooperative control algorithm comprises the following steps: an algorithm of an estimation layer and an algorithm of a local control layer;
the cooperative control module is used for realizing the communication requirement among the robots and obtaining the track of the target mechanical arm in real time according to the algorithm of the estimation layer; and according to the algorithm of the local control layer, each joint of the robot arm is tracked to the joint position estimated by the estimation layer through the input of the controller, and each joint is within the constraint condition.
8. A networked robotic cooperative control apparatus comprising a memory, a processor, and a networked robotic cooperative control program stored on the memory and operable on the processor, the networked robotic cooperative control program when executed by the processor implementing the steps of the networked robotic cooperative control method of any of claims 1 to 6.
9. A storage medium, characterized in that the storage medium has stored thereon a networked robot cooperative control program, which when executed by a processor, implements the steps of the networked robot cooperative control method according to any one of claims 1 to 6.
Background
In the industrial field, the operation of a plurality of robots to cooperatively complete tasks is very important to improve the automation degree of production and the precision of the produced workpieces. With the development of the times, the largest application market of the robot gradually develops from the fields of automobiles and the like to the aspects of traditional manufacturing industry, service industry, special operation and the like. Therefore, the cooperative control level of multiple robots is improved, the precision of a control system is continuously improved, the working efficiency is improved under the complex and high-risk special environment, and the aim of reducing personnel safety threats in the field of robot control is achieved.
In practical application, a single robot can complete a few tasks, so that the communication relationship among a plurality of robots is established into a communication topological graph by considering networked robot cooperative control and combining graph theory knowledge. The networked communication requirements among the robots are met by designing an algorithm based on a topological graph, the task diversity which can be completed by the robots is improved, and the actual application range is widened.
In the process of cooperatively completing tasks by multiple robots, the robots cannot generally complete specific tasks due to the limitations of the physical structures and the external environments of the robots. Therefore, it is necessary to design the amount of constraint of the joint state of the robot before setting the cooperative control algorithm. By designing the robot cooperative control algorithm under the state constraint, the constraint quantity can be given before the robot finishes the task, so that the robot finishes the required task under the given constraint condition, the practicability of the method is improved,
compared with the prior patent achievement, the condition of state constraint is solved by using the attenuation function, and the novelty of the control method is improved.
Therefore, the design of the cooperative control method of the networked Eulerian Lagrange robot under the state constraint has important significance in combination with the requirements on the industrial practical application.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a cooperative control method of a networked Eulerian Lagrange robot under state constraint aiming at the defect that when multiple mechanical arms cooperate in industry, the task cannot be completed due to the constraint conditions of a physical structure and an external environment.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a networked Eulerian Lagrange robot cooperative control method under state constraint is constructed, and the method comprises the following steps:
according to the robot dynamics, establishing a dynamic equation of a 2-degree-of-freedom Eulerian Lagrange robot with unknown disturbance terms;
establishing a communication directed topological graph among the machine arms according to the knowledge of graph theory, wherein the communication directed topological graph is used for describing information interaction among the machine arms;
designing constraint conditions and corresponding constraint functions according to the physical structure of the mechanical arm and the external environment limitation conditions of production;
according to the kinetic equation and the communication directed topological graph, establishing a cooperative control algorithm of the networked Eulerian Lagrange robot under the condition of state constraint, wherein the cooperative control algorithm comprises the following steps: a control algorithm of an estimation layer and a control algorithm of a local control layer;
according to the control algorithm of the estimation layer, the communication requirement among the robots is realized, and the track of the target mechanical arm is obtained in real time;
and according to a control algorithm of the local control layer, each joint of the robot arm is tracked to the joint position estimated by the estimation layer through the input of the controller, and each joint is within the constraint condition.
Preferably, the expression of the kinetic equation is:
wherein i ∈ {1, 2...., 8} represents a serial number of the robot, Mi(qi) A positive constant-mass matrix is represented,denotes the Coriolis matrix and the centrifuge term, gi(qi) Representing a matrix of gravitation, di(t) represents an input disturbance; tau isiRepresenting a control input, qi、Andrepresenting position, velocity and acceleration in joint space, respectively.
Preferably, the communication directed topology is G ═ { V, E, a };
wherein V ═ { V ═ V1,...,vNDenotes a set of vertices, i.e. the number of robot arms, E ═ V × V denotes a set of edges connecting any two robots; a ═ aij]Representing a weight matrix with contiguous elements, where aijThe element of the ith row and the jth column of the weight matrix is represented, if the jth robot and the ith robot have connection, aijNot equal to 0, otherwise aij0; and the ith robot itself has no self-circulation connection, i.e. aii0, representing the energy transferred by each mechanical arm by the size of the adjacent element, and determining a Laplace matrix L of the communication directed topology map according to a defined weight matrix of the adjacent elements, wherein the Laplace matrix L is defined as: l ═ Lij]Wherein l isijThe element of the ith row and the jth column of the L matrix is represented by a square matrix, when i is equal to j,otherwise lij＝-aijDetermining a diagonal weight matrix B of a communication directed topological graph according to the communication condition between each robot arm and a corresponding tracking target thereof, wherein the diagonal weight matrix B is defined as: b ═ diag (B)1,...,bN) Wherein b isiN is an element in the B matrix; b, if the ith robot can directly receive the information of the tracked target according to the communication condition of the robot arm between the tracked targets, biTo getA number with a value greater than 0, otherwise bi＝0。
Preferably, the step of designing constraints and corresponding constraint functions according to the physical structure of the robot arm itself and the external environmental constraints of the production includes:
defining a lower bound q for a single joint of a robotic armil(t) and an upper constraint bound qiu(t) satisfying the following relation:
qil(t)＜qi(t)＜qiu(t),i＝1,...,n
defining the actual quantity q of the jointi(t) and estimatorAn error ofThe expression is as follows:
satisfies the following formula:
by designing a type of attenuation function, the error value is within a designed constraint range, so that the movement amount of the joint is within a set upper and lower constraint bounds, and the attenuation function ζ (t) is as follows:
ζ(t)＝(ζ0-ζ∞)e-ωt+ζ∞
therein, ζ0Initial value, ζ, representing attenuation, which needs to be greater than the initial values of all joint variables∞Represents a final value of attenuation, satisfies 0 < ζ∞＜1，e-ωtRepresents a decay rate where ω > 0 is a predetermined constant, and the decay function satisfies ζ which is an initial value from the decay0Exponential decrease to a decaying final value ζ∞；
According to the decayIn the form of a subtraction function, a constraint function ζ for two state quantities of position and speed is set1(t) and ζ2(t)：
Therein, ζ10、ζ20Initial value, ζ, representing attenuation, which needs to be greater than the initial values of all joint variables1∞、ζ2∞Represents a final value of attenuation, satisfies 0 < ζ1∞＜1,0＜ζ2∞＜1，Represents the decay rate, where1＞0,ω2> 0 is a predetermined constant, the decay function satisfies the initial value ζ from decay10、ζ20Exponential decrease to a decaying final value ζ1∞、ζ2∞；
Error from attenuation function of positionUpper bound ρ ofiuAnd lower bound ρilThe expression is:
preferably, before designing the algorithm of the estimation layer, the position q of the target mechanical arm needs to be introduced first0Velocity v0And acceleration u0The relationship between them is as follows:
preferably, the control algorithm of the estimation layer is as follows:
wherein the content of the first and second substances,and uiRespectively inputting the joint position, the joint speed and the control input of the joint estimated by the ith mechanical arm; a isij、biRespectively, the adjacent elements involved in the graph theory for the ith mechanical arm and the diagonal elements of the weight matrix B; u. of0The acceleration value of the target mechanical arm is obtained; lambda [ alpha ]1A normal number set artificially; u. ofjIs the control input of the jth robot, j is 1, N is the number of robots,the error forms of the position and the speed of the ith mechanical arm are shown respectively, and the mathematical expressions are respectively as follows:
preferably, before designing the algorithm of the local control layer, the speed error epsilon corresponding to the ith mechanical arm required by the input of the controller needs to be giveni(t) of the formula
εi(t)＝vi(t)-βi(t)
Wherein v isiIs the joint velocity for the ith robot arm; beta is ai(t) is a guarantee bitThe virtual control rate with the error designed in the required constraint range is mathematically formed by:
wherein, ciIs a designed normal number;is the actual quantity q of the jointiAnd estimatorThe error between; rhoiu、ρilAre respectively an errorUpper and lower bounds. The invention mainly realizes the constraint requirement of the position error through the formula.
Preferably, the control algorithm of the local control layer is as follows:
wherein, taui(t) is the control input, λ, of the local control layer2A normal number set artificially; | | · | | represents the norm of the euclidean norm for the vector;ψi(t) auxiliary variable expressions in sec-form and tan-form, respectively, as:
therein, ζ2(t) is a constraint function, ε, on the velocity state of the robot arm designed in S3iAnd (t) is the speed error corresponding to the ith mechanical arm.
In order to achieve the above object, the present invention also provides a networked robot cooperative control apparatus, including:
the equation construction module is used for establishing a kinetic equation of the 2-degree-of-freedom Eulerian Lagrange robot with an unknown disturbance term according to the robot dynamics;
the directed graph building module is used for building a communication directed topological graph among the machine arms according to the knowledge of graph theory, and the communication directed topological graph is used for describing information interaction among the machine arms;
the constraint condition design module is used for designing constraint conditions and corresponding constraint functions according to the physical structure of the mechanical arm and the external environment limitation conditions of production;
the algorithm construction module is used for establishing a cooperative control algorithm of the networked Eulerian Lagrange robot under the state constraint according to the kinetic equation and the communication directed topological graph, and the cooperative control algorithm comprises the following steps: a control algorithm of an estimation layer and a control algorithm of a local control layer;
the cooperative control module is used for realizing the communication requirement among the robots and obtaining the track of the target mechanical arm in real time according to the control algorithm of the estimation layer; and according to a control algorithm of the local control layer, each joint of the robot arm is tracked to the joint position estimated by the estimation layer through the input of the controller, and each joint is within the constraint condition.
In addition, in order to achieve the above object, the present invention further provides a networked robot cooperative control apparatus, including a memory, a processor, and a networked robot cooperative control program stored in the memory and operable on the processor, wherein the networked robot cooperative control program, when executed by the processor, implements the steps of the networked robot cooperative control method.
In addition, in order to achieve the above object, the present invention further provides a storage medium having a networked robot cooperative control program stored thereon, wherein the networked robot cooperative control program realizes the steps of the networked robot cooperative control method when executed by a processor.
The technical scheme provided by the invention has the following beneficial effects:
1. compared with the similar control method, the control method provided by the invention reduces the complexity of a control algorithm through a layering method based on an estimation layer, and saves the control cost and required components;
2. compared with the similar control method, the control method provided by the invention can limit the state of the Euler Lagrange robot within the constraint function, and can stably control the robot to complete the operation even if the control method is limited by a physical structure and an external environment.
3. Compared with the similar control method, the method uses the attenuation function method to control the error in the constraint condition, and improves the novelty of the control method suitable for the state constraint.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a control flowchart of a cooperative control method of a networked eulerian lagrangian robot under state constraint according to an embodiment of the present invention;
FIG. 2 is a simplified model of the physical structure of a robot arm according to an embodiment of the present invention;
fig. 3 is a directed topology network diagram of a networked eulerian lagrangian robot system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of networked Eulerian Lagrangian robot cooperative work according to an embodiment of the present invention;
FIG. 5 shows a joint position q according to an embodiment of the present invention1A trajectory tracking and constraint condition simulation diagram;
FIG. 6 shows a joint position q according to an embodiment of the present invention2Trajectory tracking and constraint condition simulationA drawing;
FIG. 7 shows joint velocity v provided by an embodiment of the invention1A trajectory tracking simulation diagram;
FIG. 8 illustrates joint velocity v provided by an embodiment of the present invention2And (4) tracing a simulation diagram.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a control flowchart of a cooperative control method of a networked eulerian lagrangian robot under state constraint according to an embodiment of the present invention; in this embodiment, a method for cooperatively controlling a networked euler lagrangian robot under state constraint includes the following steps:
s1, establishing a kinetic equation of the 2-degree-of-freedom Eulerian Lagrange robot with unknown disturbance terms according to the robot dynamics;
in this embodiment, assuming that 8 robots are manipulated to track the trajectory of 1 robot for cooperative work, dynamic modeling is performed on a single robot, and a trajectory function of a tracked target is set, where the trajectory function is as follows:
the following relation is satisfied:
referring to fig. 2, which is a simplified model of the physical structure of a robot arm with two degrees of freedom having the same physical parameters, wherein mk、lk、rk、JkThe mass, length, distance from the center of mass to the joint and moment of inertia of the mechanical arm are shown in detail in figure 2,
the specific data are shown in Table 1;
table 1 physical structure parameters of each mechanical arm
The dynamic modeling model of the mechanical arm is as follows:
in the above expression, i ∈ {1, 2.., 8} represents a serial number of the robot; mi(qi) Representing a positive constant quality matrix;representing the coriolis matrix and the centrifuge terms; gi(qi) Representing a gravity matrix; di(t) represents an input disturbance; tau isiRepresents a control input; q. q.si、Andrepresenting position, velocity and acceleration in joint space, respectively.
S2, establishing a communication directed topological graph (refer to fig. 3) among the robot arms according to the knowledge of graph theory, wherein the communication directed topological graph is used for describing information interaction among the robot arms;
in this embodiment, the communication directed topology is G ═ V, E, a },
wherein V ═ { V ═ V1,...,vNDenotes a set of vertices, i.e. the number of robot arms, E ═ V × V denotes a set of edges connecting any two robots; a ═ aij]Representing a weight matrix with contiguous elements, a if there is a connection between the jth robot and the ith robotijNot equal to 0, otherwise aij0; and the ith robot itself has no self-circulation connection, i.e. aii0, the magnitude of the energy transmitted by each arm is represented by the magnitude of the adjacent elementDetermining a Laplace matrix L of the communication directed topology graph according to the defined weight matrix of the adjacent elements, wherein the Laplace matrix L is defined as: l ═ aij]Wherein: when the value of i is equal to j,otherwise lij＝-aijDetermining a diagonal weight matrix B of a communication directed topological graph according to the communication condition between each robot arm and a corresponding tracking target thereof, wherein the diagonal weight matrix B is defined as: b ═ diag (B)1,...,bN) (ii) a B, if the ith robot can directly receive the information of the tracked target according to the communication condition of the robot arm between the tracked targets, biIs a number greater than 0, otherwise bi＝0。
The specific laplacian matrix L and diagonal weight matrix B are as follows:
B＝diag(0 1 0 1 0 0 0 0)。
s3, designing constraint conditions and corresponding constraint functions according to the physical structure of the mechanical arm and the external environment limitation conditions of production;
the method comprises the following specific steps:
defining a lower bound q for a single joint of a robotic armil(t) and an upper constraint bound qiu(t) satisfying the following relation:
qil(t)＜qi(t)＜qiu(t),i＝1,...,n
defining the actual quantity q of the jointi(t) and estimatorAn error ofThe expression is as follows:
satisfies the following formula:
by designing a type of attenuation function, the error value is within a designed constraint range, so that the movement amount of the joint is within a set upper and lower constraint bounds, and the attenuation function ζ (t) is as follows:
ζ(t)＝(ζ0-ζ∞)e-ωt+ζ∞
therein, ζ0Initial value, ζ, representing attenuation, which needs to be greater than the initial values of all joint variables∞Indicates that the final value of the attenuation satisfies 0 < ζ∞＜1，e-ωtRepresenting a decay rate, said decay function satisfying a value ζ from an initial decay value0Exponential decrease to decay end value ζ∞；
According to the form of the attenuation function, a constraint function zeta for the position and the speed is set respectively1(t) and ζ2(t)：
Error from attenuation function of positionUpper bound ρ ofiuAnd lower bound ρilThe expression is:
s4, establishing a cooperative control algorithm of the networked Eulerian Lagrange robot under the state constraint according to the kinetic equation and the communication directed topological graph, wherein the cooperative control algorithm comprises the following steps: a control algorithm of an estimation layer and a control algorithm of a local control layer;
in this embodiment, before designing the algorithm of the estimation layer, the position q of the target robot arm needs to be introduced first0Velocity v0And acceleration u0The relationship between them is as follows:
the control algorithm of the estimation layer is as follows:
wherein the content of the first and second substances,and uiRespectively inputting the joint position, the joint speed and the control input of the joint estimated by the ith mechanical arm; a isij、biRespectively, the adjacent elements involved in the graph theory for the ith mechanical arm and the diagonal elements of the weight matrix B; u. of0The acceleration value of the target mechanical arm is obtained; lambda [ alpha ]1A normal number set artificially;the error forms of the position and the speed of the ith mechanical arm are shown respectively, and the mathematical expressions are respectively as follows:
in this embodiment, before designing the algorithm of the local control layer, a speed error epsilon corresponding to the ith mechanical arm required by the input of the controller needs to be giveni(t), the expression of which is:
εi(t)＝vi(t)-βi(t)
wherein v isiIs the joint velocity for the ith robot arm; beta is ai(t) a virtual control rate designed to ensure that the position error is within the required constraints, in mathematical form:
wherein, ciIs a designed normal number;is the actual quantity q of the jointiAnd estimatorThe error between; rhoiu、ρilAre respectively an errorUpper and lower bounds. The invention mainly realizes the constraint requirement of the position error through the formula.
The control algorithm of the local control layer is as follows:
wherein λ is2A normal number set artificially; | | · | | represents the norm of the euclidean norm for the vector;ψithe expressions of (t) are respectively:
therein, ζ2(t) is a constraint function, ε, on the velocity state of the robot arm designed in S3iAnd (t) is the speed error corresponding to the ith mechanical arm.
S5, according to the control algorithm of the estimation layer, the communication requirement among the robots is realized, and the track of the target mechanical arm is obtained in real time; according to the control algorithm of the local control layer, the joints of the robot arm are enabled to track the joint positions estimated by the estimation layer through the input of the controller, and the joints are enabled to be in constraint conditions, and a schematic diagram of the networked Eulerian Lagrange robot cooperative operation is shown in a reference figure 4.
Referring to fig. 5 and 6, fig. 5 and 6 show a joint position state q1，q2Under the action of the designed constraint function, the position state quantity of each robot gradually converges to the corresponding tracking target track.
Referring to fig. 7 and 8, fig. 7 and 8 show the joint velocity state v1，v2The velocity state quantity of each robot gradually converges to its corresponding tracking target trajectory.
As an optional implementation manner, this embodiment further provides a networked robot cooperative control apparatus, where the networked robot cooperative control apparatus includes the following modules:
the equation construction module is used for establishing a kinetic equation of the 2-degree-of-freedom Eulerian Lagrange robot with an unknown disturbance term according to the robot dynamics;
the directed graph building module is used for building a communication directed topological graph among the machine arms according to the knowledge of graph theory, and the communication directed topological graph is used for describing information interaction among the machine arms;
the constraint condition design module is used for designing constraint conditions and corresponding constraint functions according to the physical structure of the mechanical arm and the external environment limitation conditions of production;
the algorithm construction module is used for establishing a cooperative control algorithm of the networked Eulerian Lagrange robot under the state constraint according to the kinetic equation and the communication directed topological graph, and the cooperative control algorithm comprises the following steps: a control algorithm of an estimation layer and a control algorithm of a local control layer;
the cooperative control module is used for realizing the communication requirement among the robots and obtaining the track of the target mechanical arm in real time according to the control algorithm of the estimation layer; and according to a control algorithm of the local control layer, each joint of the robot arm is tracked to the joint position estimated by the estimation layer through the input of the controller, and each joint is within the constraint condition.
As an optional implementation manner, this embodiment further provides a networked robot cooperative control device, where the networked robot cooperative control device includes a memory, a processor, and a networked robot cooperative control program stored in the memory and executable on the processor, and the networked robot cooperative control program, when executed by the processor, implements the steps of the networked robot cooperative control method.
As an optional implementation manner, this embodiment further provides a storage medium, where a networked robot cooperative control program is stored on the storage medium, and when being executed by a processor, the networked robot cooperative control program implements the steps of the networked robot cooperative control method.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
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