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工程设计学报
Chinese Journal of Engineering Design  2004, Vol. 11 Issue (2): 62-64    DOI:
    
Conversely decentralized autonomous control algorithm based
on peg-hole assembling robot manipulators
 ZHOU  Ji-Ping, ZHU  Xing-Long, TAO  Ye, DAN  Yi-Cai
Mechanical Engineering College，Yangzhou University, Yangzhou 225009, China
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Abstract  Based on the feature of peg-hole assembling and the theory of decentralized autonomous control, the paper proposes conversely decentralized autonomous control algorithm. It can be used to program the movement of robot manipulators which avoids tedious process of computing pseudoinverse and simplifies the control on robot manipulators. The validity of the proposed algorithm is also confirmed by simulating a 4 DOF planar robot manipulators.

Key words： peg-hole assembling      conversely decentralized autonomous control      algorithm     
Published: 28 April 2004
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ZHOU Ji-Ping
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TAO Ye
DAN Yi-Cai
Cite this article:

ZHOU Ji-Ping, ZHU Xing-Long, TAO Ye, DAN Yi-Cai. Conversely decentralized autonomous control algorithm based
on peg-hole assembling robot manipulators. Chinese Journal of Engineering Design, 2004, 11(2): 62-64.

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https://www.zjujournals.com/gcsjxb/     OR     https://www.zjujournals.com/gcsjxb/Y2004/V11/I2/62


基于轴孔装配的机械操作臂逆向自律分散控制

基于轴孔装配作业的特点，在自律分散控制的基础上，提出了一种逆向自律分散控制算法，用以规划机械操作臂的运动, 避免了求逆解的冗长过程，简化了对机械操作臂的控制。并通过对四自由度的平面机械手的运动仿真，验证了该算法的正确性。

关键词： 轴孔装配,  逆向自律分散控制,  算法 
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