Multi-robot coordinated carrying control method based on coordinated impedance

• Main Authors: ZHU WEI, ZHANG YIHENG, SHEN YICHAO, WANG BINGZHENG, TANG QIRONG, CUI YUANZHE
• Format: Patent
• Language: Chinese; English
• Published: 27.02.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention relates to the field of multi-robot control, and discloses a multi-robot coordinated carrying control method based on coordinated impedance. Interaction points of the collaborative carrying system are defined, and a center node of a carried object is a geometric center of the carried object; the interaction point is a grabbing point of a gripper at the tail end of the robot; an interaction point self impedance model, an impedance model between interaction points and an impedance model between the interaction points and the center node are established in sequence, and an interaction point cooperative impedance model is obtained; the influence of the external force/torque on the collaborative carrying system is considered in the collaborative impedance model, and a final collaborative impedance model is established; substituting the final cooperative impedance model into a defined robot dynamic model, and establishing a controlled object reflecting cooperative characteristics; and a controller is