摘要
本文研究了多个机器人完成某物体的跟踪问题。提出了一种“主辅型”控制策略。这种控制策略具有自组织性质,它自动地解决了机器人系统控制的不唯一性、自相矛盾的可能性,保证了各机器人间的合作与谐调。仿真结果表明跟踪误差极小。
In order to realize the tracking task of heavy or spacious bodies, robotic system are often needed due to the limitation of control torque of a single robot. When a body is grasped by the end-effectors of several robots, the determination of force/torque of each robot is not unique. Furthermore, conflict phenomenon among robots may occur and in consequence may cause instability of the system In this paper, a new 'Master-helper'control strategy is suggested to remedy these problems. Simulation of a two-robot system verifies the effectiveness of the proposed method.
出处
《航空学报》
EI
CAS
CSCD
北大核心
1990年第7期A360-A368,共9页
Acta Aeronautica et Astronautica Sinica
关键词
机器人系统
跟踪
控制
robotic system, tracking task, constrained control, ma-ster-helper control strategy.