Manipulators Control Based on Collaboration Multiple Agents

In order to solve the collaboration control problem in three manipulators of automatic crystal angle sort equipment, the structure of coordinating multiple agents is designed to meet the special requirements of the application. Manipulators are link by a control network, multi-agent theory is exploited to solve the problems of collaboration control and movement coupling in manipulators and the blackboard structure is used for share of state data of manipulator´s dynamic targets. As a result, agents can accomplish the own task at same time but different rooms. The manipulators based on the above design can improve labor´s working conditions, increase producing efficiency, improve measure precision in the angle between crystal slice and crystal lattice, and sort exactly.