Study On Trajectory Planning And Trajectory Tracking Of Tool Changing Manipulator Of Shield Machine

The Shield Machine tool changer is mainly operated by workers entering the high-pressure mud tank to inspect and replace the tools.When changing tools,the workers are working in a high pressure environment,which will have a greater impact on human health.Therefore,the replacement of the worn tool instead of the manual tool changer can not only avoid the danger of the manual operation,but also improve the efficiency of the tool changing.The main purpose of this paper is to control the task of changing the knives for the manipulator,and the trajectory planning and trajectory tracking of two main parts of the shield machine tool manipulator are mainly studied.First,the 3D model of the shield machine tool manipulator is designed with Solidworks,and it is used as the research object to study the kinematics of the manipulator.The manipulator pose and spatial coordinate transformation are described,the D-H parameters of the manipulator of the shield machine are determined,and the D-H reference coordinate system is established.The kinematics model of manipulator is set up and simulated by Robotics Toolbox.Finally,the forward kinematics of the tool changing manipulator is calculated,and the transformation matrix is obtained,and the joint angles are calculated by inverse kinematics.At the same time,the simulation is verified by Robotics Toolbox.Then,the trajectory planning of each joint is carried out based on the robot manipulator of shield machine.The advantages and disadvantages of joint space trajectory planning and Cartesian space trajectory planning are introduced and compared.The robot's joint space trajectory planning includes three polynomial interpolation and five polynomial interpolation.After analysis and comparison,the five degree polynomial interpolation is used to track the tool changing manipulator of shield machine.Use the Robotics Toolbox toolbox to simulate validation.Secondly,the Echo State Network(ESN)algorithm is introduced,its basic principle and structure are explained,and the key parameters of the network are set up in the simulation application.The data processing method of ESN network and the evaluation index after training are determined.Finally,the off-line training method is used to the ESN network with the robot arm as the object.The performance is tested and verified.Finally,the dynamic model of shield manipulator is established by Lagrange method.In view of the trajectory tracking problem of the tool changing manipulator,the ESN controller is designed to approach the uncertain part of the manual mechanical model of the tool changing machine and the sliding mode controller to overcome the error and external disturbance when the system model is approximated and the robustness of the system is increased.The stability of the whole control system is proved by using Lyapunov theorem.Matlab/Simulink is used to establish the simulation model of the system to verify the correctness of the simulation.