多机械臂系统分布式主从同步控制算法与仿真

Leader-follower Based Disitributed Synchronous Control and Simulation for Multi-manipulators System

针对多机械臂系统同步控制问题,提出一种分布式多机械臂同步控制算法。运用通信拓扑学的知识,定义主从机械臂间同步误差;基于无向图放松约束条件,设计同步控制算法;根据李雅普诺夫函数进行了稳定性分析。2自由度多机械臂系统仿真表明:应用该控制算法,主从机械臂间的同步误差能渐近收敛到零;与集中式同步控制相比具有更高的稳定性。

This paper developed a novel distributed synchronous control algorithm for multiple robotic manipulator systems. Based on the manipulator＇s dynamic properties and leader-following topologies, a new synchronous control algorhhm was proposed for multi-manipulator systems and the limitations were reduced. The corresponding stability of the proposed approach was analyzed by using Lyapunov methods. The simulation results of a two-degree multi- manipulator system show that the synchronous error can converge to zero asymptotically. Compared with centralized synchronous control method, the proposed approach is more stable.