The problem of coordination between control and guidance is often concerned in the process of handling robots.A guidance control method of binocular and multi-motion omnidirectional handling robot is designed,and a comprehensive analysis of cooperative guidance control is carried out.The results show that the convergence rate to the steady-state value is faster and the steady-state deviation is effectively reduced after the reinforcement learning optimization on the linear path.The mean square error and mean value are reduced after the optimization of the post-robot control.The results of longitudinal distance de-viation in collaborative path tracking experiments mean that the control of longitudinal distance between robots is more stable after reinforcement learning.The effectiveness and feasibility of cooperative guidance control can be verified by the experimental results of cooperative path tracking.This study is helpful to improve the cooperative working efficiency of handling robots,and plays a certain theoretical support role for the subsequent finishing control optimization.
关键词
搬运机器人/多运动副/协同运动/导引控制
Key words
handling robot/multi-motion pair/cooperative movement/guidance control
维普
万方数据