Research On Intelligent Trajectory Planning For Reconfigurable Robot

China's State Council has revealed a ten-year national plan,Made in China 2025,designed to transform China from a manufacturing giant into a world manufacturing power.So the robot industry has been developed the national strategic level.To improve the level of manufacturing technology and reach the leading position in the global industrial field,China has carried out the layout and construction of the robot industry.The reconfigurable robot is a very important research field in the robotic industry,which is rapidly developed in all areas of production,such as the nuclear industry,shipbuilding industry,aerospace and other applications.The research object of this thesis is the reconfigurable robot with the ability of moment perception.Moreover,the intelligent trajectory planning is conducted based on the space model which is achived by environment perception.This paper first introduced the configurator of robotic each connection module,then it showed the shape and function of each module.Next the hardware control system was instroduced,such as the main control module,communication module,driving module,power supply module etc..Through the installation and debugging of the bottom hardware system,the motor could be controlled stably in practicing.Second the kinematics of reconfigurable robotic with four different configuration(two4-Dofs and two 6-Dofs)was established by using the D-H method.Moreover the reconfigurable robot with the two configurations(one 4-Dofs,one 6-Dofs)among the four configuration's dynamic simulation is carried out.Third based on S intelligent curve and neural network PID feedback was introduced.Moreover a configuration identification metheod for reconfigurable robot was proposed on current loop.Based on the dynamic equation of the robot,the starting configuration of the reconfigurable robot is analyzed by analyzing the current and torque.Finally,the whole trajectory planning method and collision detection method for obstacles were introduced.The bounding box method was used to describe the obstacle.Furthermore,using the A* algorithm,we can replan the trajectory.And the trajectory simulation,as well as the robot linear motion and trajectory trajectory avoidance experiment,achieving an ideal experimental results.