基于偏微分方程约束的机器人群集运动控制系统设计  

Design of Robot Cluster Motion Control System Based on Partial Differential Equation Constraints

作　　者：董慧 DONG Hui(College of General Education,Xi'an Mingde Institute Of Technology,Xi'an 710124,China)

机构地区：[1]西安明德理工学院通识教育学院,西安710124

出　　处：《计算机测量与控制》2023年第4期130-135,共6页Computer Measurement &Control

基　　金：高等学校大学数学教学研究与发展中心2022教学改革项目(CMC20220508)。

摘　　要：为充分发挥机器人群集的协作优势,克服单机器人能力不足问题,利用偏微分方程约束理论,设计机器人群集运动控制系统;扩大机器人群集间通信网络范围,改装机器人传感器、运动控制器和驱动电机设备;在硬件设备的支持下,考虑机械结构、运动与动力工作原理,建立机器人群集数学模型;分配机器人群集运动任务,利用偏微分方程规划机器人群集编队运动路径,设置规划路径作为机器人群集运动的约束条件;从位置和姿态角两个方面计算运动控制量,通过控制指令的生成与转换,实现系统的机器人群集运动控制功能;通过系统测试实验得出结论:与传统运动控制系统相比,在优化设计系统的控制下,机器人群集的运动跟踪控制误差为13 cm,机器人群集运动过程中产生的碰撞次数平均值为15次,得到明显减少,即优化设计系统具有良好的控制效果。In order to make full use of the cooperative advantages of robot clusters and overcome the problem of insufficient capacity of single robot,a robot cluster motion control system is designed by using the constraint theory of partial differential equations.The system expands the range of communication networks between the robot clusters,and refits the robot sensors,motion controllers,and driving motor equipment.With the support of hardware equipment,considering the mechanical structure,motion and dynamic working principle,a mathematical model of robot cluster is established.The task of robot cluster movement is assigned,and the path of robot cluster formation movement is planned by using the partial differential equations,and the planned path is set as the constraint condition of the robot cluster movement.The motion control quantity is calculated by the position and attitude angle,and the cluster motion control function of the system is realized through the generation and conversion of control commands.Through the system test experiment,it is concluded that compared with the traditional motion control system,under the control of the optimized design system,the motion tracking control error of the robot cluster is 13 cm,and the average number of collisions generated during the robot cluster movement is 15,which is significantly reduced,that is,the optimized design system has a good control effect.

关 键 词：偏微分方程 控制约束 机器人运动 群集运动控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]