机器人系统在环境约束下跟踪目标的主辅助控制策略

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI:10.1109/IECON.1990.149142

W. Gao, B. Yao

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引用次数: 4

摘要

针对机器人系统(多机器人系统)在存在环境约束的情况下，手持刚体跟踪给定运动，提出了一种分层控制策略。引入了一种环境约束的数学公式，它在许多情况下足够简单。该控制采用主-辅助控制方案，通过自组织算法实现全局控制器。仿真结果表明，该方法的跟踪误差小到可以忽略不计。

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Master-helper control strategy to robotic systems in tracking an object subject to environmental constraints

A hierarchical control strategy is developed for robotic systems (multiple robot systems) holding a rigid body to track a given motion in the presence of environmental constraints. A mathematical formulation of the environmental constraints is introduced which is simple enough in many cases. The control is constructed following a master-helper control scheme in which the global controller is realized by a self-organizing algorithm. Simulations show that the tracking errors are negligibly small.<>

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来源期刊

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society

CiteScore

1.40

自引率

0.00%

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