基于多AGENT的分布式操作臂控制

DISTRIBUTED MANIPULATOR CONTROL BASED ON MULTI AGENT

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 .

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.