Research On Motion Planning Algorithm For Continuous Robots In Unstructured Environment

In order to adapt to the increasingly complex unstructured environment such as aircraft fuel tank,a continuous line-driven manipulator based on the combination of ball hinge connection and flexible support rod was designed.The continuous robot has the characteristics of multi-degree of freedom structure,continuity,flexibility and so on,so it has a strong advantage in the non-structural environment.However,due to its complex kinematics,coupling of joint motion,its motion path planning and joint manipulation control are challenging tasks.The main research contents are as follows.(1)The structure of the continuous robot was designed and the kinematics model was analyzed.The spatial mapping of continuous robots is analyzed,the mapping relation of continuous robot from working space to attitude space to rope length change space and drive space is established,and the relevant simulation is carried out to verify the correctness of the theory.(2)A path planning method for continuous robots based on path fitting is designed,and a simulation environment is set up for aircraft fuel tank to complete the path planning method for continuous robots.Firstly,the simulation environment of aircraft fuel tank is established.Then the improved RRT algorithm is used to generate discrete paths that are more consistent with the continuous robot model.Path fitting method is designed,According to the fuel tank environment,the obstacle avoidance strategy is designed to better complete the path planning task in the complex environment of the aircraft fuel tank.Continuous robot compartment path planning strategy is designed to complete the task of continuous robot compartment path planning.(3)The continuous robot three joint prototype platform was built,the overall control system of the continuous robot is designed,the overall drive and control program is written,a continuous robot control mode was designed to realize joint following path control and handle control following terminal control.Experiments were carried out on the prototype platform to realize the control of continuous robot.