Research On The Motion Control System Of A Climbing Robot

With the improvement of economic and income,the demand for wood products has increased year by year.In recent years,the long-term over-harvesting has resulted in serious damage to the areas of forests in China,and the storage of timber cannot meet the needs of people.It is an important issue that increasing the utilization rate of wood and making full use of existing timber resources for China.Defect detection is an effective way to improve the utilization rate of timber,and CT scan detection is used as an important non-destructive method to test internal defects of timber.It is difficult for people to carry the equipment that is heavy and has certain radiation to climb the specified height of the wood for detection under the condition of not cutting.With the development of robot technology,there is an urgent need for robots that can climb and carry equipment instead of artificial climbing tests in fields such as agriculture,forestry,and ancient architecture.In this paper,a climbing robot motion control system was researched and designed to meet the demands of climbing stability and rotating precisely with the detection equipment.The climbing robot was used to transport the scanning device to a specified inspection position,using the intelligent control algorithms and human-computer interaction to structure the internal image of the climbing wood.The main research works of the paper are as follows:1.A prototype of climbing robot was designed to carry CT scanning equipment basing on the research status of domestic and foreign tree-climbing robots,the analysis of finite element was used to verify its climbing and gripping characteristics whether can meet stable climbing with the requirement.Further,the robot motion control system was designed to meet climbing stability,not damaging woods,acquiring high definition image of the wood with the requirement;2.According to the overall scheme design of motion control system of climbing robot,the functional principles of each module were researched,high real-time hardware structure of motion controllers and expansion modules,motor drive modules,wood interior structure detection modules,sensor modules,and human-machine interaction modules are designed;3.In order to ensure the stability of motion control system,the motion control algorithm is studied.Firstly,the related kinematics forward and inverse solutions are obtained by using kinematics model on DH according to the overall mechanical structure of the climbing robot,and the feasibility and effectiveness of the climbing mechanism are analyzed.Then,algorithms of neural network PID,fuzzy control and fuzzy PID control were used to solve the problems of unsynchronized lift joints,non-synchronous rotary joints and uneven horizontal clamping force respectively,ensuring the he robot climbing stability and detection process safety.4.The software was designed by using C++ MFC combined with wireless network basing on the system hardware of motion control and intelligent control method,at the same time,the software code of the motion control algorithm was written to realize the intelligent robot motion control and ensure the operation of robot stability.The control software system can be directly operated friendly,stability and compatibility under the system of Windows 7.5.Finally,the robot system was debugged,and the control algorithm has been optimized continuously by collecting data to meet requirements of the motion control system better.The robot designed in this paper can carry inspection equipment and complete the internal defects detection of wood through its climbing exercise.At the same time,the detection robot has a great significance on the detection of internal defects of landscape trees and ancient wood buildings.The robot motion control system had high safety,high stability,and can acquire DH images,which has important practical significance for the robots applying to detect internal structure of wood.