Hybrid Orientation and Position Collaborative Motion Generation Scheme for a Multiple Mobile Redundant Manipulator System Synthesized by a Recurrent Neural Network

被引:1
作者
Ren, Xiaohui [1 ]
Guo, Jinjia [1 ]
Chen, Siyuan [2 ]
Deng, Xiaoyan [1 ]
Zhang, Zhijun [1 ,3 ,4 ,5 ,6 ,7 ]
机构
[1] South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510640, Peoples R China
[2] South China Univ Technol, Shien Ming Wu Sch Intelligent Engn, Guangzhou 510640, Peoples R China
[3] Guangdong Univ Petrochem Technol, Sch Automat, Maoming 525000, Peoples R China
[4] Pazhou Lab, Guangdong Artificial Intelligence & Digital Econ, Guangzhou 510335, Peoples R China
[5] Shaanxi Univ Technol, Sch Mech Engn, Shaanxi Prov Key Lab Ind Automat, Hanzhong 723001, Peoples R China
[6] Hunan Univ Finance & Econ, Sch Informat Technol & Management, Changsha 410205, Peoples R China
[7] East China Jiaotong Univ, Sch Automat Sci & Engn, Nanchang 330052, Jiangxi, Peoples R China
基金
中国国家自然科学基金;
关键词
Manipulators; Optimization; Task analysis; End effectors; Collaboration; Planning; Automation; Distributed recurrent neural network; motion generation; multiple mobile manipulator system; orientation and position coordination; ADAPTIVE-CONTROL; COOPERATIVE MANIPULATION; OPTIMIZATION; COORDINATION; ROBOTS; LIMITS;
D O I
10.1109/TCYB.2024.3422996
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
To enable distributed multiple mobile manipulator systems to complete collaborative tasks safely and stably, this article investigates and presents a motion generation scheme that considers both orientation and position coordination based on a distributed recurrent neural network. Moreover, physical limits are also considered. Specifically, the orientation and position coordination constraints and physical limits are modeled separately as equality and inequality constraints with coupled variables. Subsequently, a motion generation scheme for multiple mobile manipulators based on quadratic programming is established. Finally, a distributed linear variational inequality-based primal-dual neural network is constructed to solve the motion generation scheme and obtain the motion trajectories of all the mobile manipulators. The simulation results demonstrate that the hybrid orientation and position collaboration motion generation scheme effectively addresses the position and orientation coordination problem for multiple mobile manipulator systems. Compared to other schemes, the proposed scheme based on a distributed computing structure greatly enhances the stability of the system. Additionally, the proposed approach introduces orientation coordination and physical limits, which increases the practicality of the system.
引用
收藏
页码:6035 / 6047
页数:13
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