首页 | 本学科首页   官方微博 | 高级检索  
     

基于多AGENT的分布式操作臂控制
引用本文:赵春霞,盛安冬,杨静宇,王树国,蔡鹤皋,Y.F.Li. 基于多AGENT的分布式操作臂控制[J]. 机器人, 2000, 22(5): 402-409
作者姓名:赵春霞  盛安冬  杨静宇  王树国  蔡鹤皋  Y.F.Li
作者单位:1. 南京理工大学计算机系南京210094
2. 南京理工大学自动化系南京210094
3. 哈工大机器人研究所哈尔滨150001
4. 香港城市大学制造工程与工程管理学系
基金项目:本文工作得到国家863计划,及香港University Grant Council的资助.
摘    要:大部分传统的机器人控制方法依赖于一精确模型.随着机器人的日趋复杂,此类方法已受到种种限制.本文在借鉴国际最新研究成果的基础上,提出了一种新的操作臂控制算法.算法继承了多Agent的思想,易于实现并行运算;吸收了增量定向运动学思想的优点,使运算相对简单.算法采用使操作臂末端点与目标点间距离单调减小的控制策略,并推导出了相应的非迭代公式.针对基于多Agent的操作臂控制算法中存在的问题,本算法消除了初始阶段运动轨迹出现的振荡现象,从根本上避免了迭代算法带来的收敛速度问题.

关 键 词:机器人  agent  操作臂控制
文章编号:1002-0446(2000)05-0402-08
修稿时间:1999-07-21

DISTRIBUTED MANIPULATOR CONTROL BASED ON MULTI-AGENT
ZHAO Chun-xia,SHENG An-dong,YANG jing-yu,WANG Shu-guo,CAI He-gao,Y.F.Li. DISTRIBUTED MANIPULATOR CONTROL BASED ON MULTI-AGENT[J]. Robot, 2000, 22(5): 402-409
Authors:ZHAO Chun-xia  SHENG An-dong  YANG jing-yu  WANG Shu-guo  CAI He-gao  Y.F.Li
Abstract:Most of traditional robot control methods depends on the accurate model. With the complexity of robots, this kind of control methods has fallen under many restricts. On the basis of the newest research achievements in the world, a new distributed non iterative and parallel control algorithm based on multi agent is presented in this paper. The algorithm inherits the ideas about multi agent and it is implemented more easily in running concurrently. It also absorbs the advantages of Incremental Direct Kinematics to make the calculations more simply. It uses the control strategy in which the distance between the manipulator end and the target could be decreased monotonously, and the corresponding non iterative formula is deducted. Aiming at problems in manipulator control algorithms based on multi agent, the algorithm eliminates the oscillation in the initial trajectory and essentially avoids the problem of convergent speed caused by conventional iterative algorithms.
Keywords:Robot   agent   manipulator control
本文献已被 CNKI 维普 万方数据 等数据库收录!
点击此处可从《机器人》浏览原始摘要信息
点击此处可从《机器人》下载全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号