Research On Motion Planning Of Continuous Robot Operation

Compared with traditional robots,continuous robots have the characteristics of high dexterity,good safety,strong ability to adapt to unstructured environments,and the ability to operate objects of different sizes.This paper takes redundant DOF tendons-driven continuous robots for narrow and obstacle space operations as research objects,studies the continuous robot kinematics modeling,trajectory planning,and obstacle avoidance motion planning and other related issues.The details are as follows:(1)In order to realize the position and attitude control of the end of the continuous robot,the kinematic characteristics of the tendons-driven continuous robot are studied,a complete kinematic modeling process is proposed,and a complete kinematic analysis of the driving arm driving space and the working space is given.Mapping.Under the premise of piecewise constant curvature,this method first obtains the kinematic mapping of the joint space of the operating arm and the working space based on the theory of Lie groups,Lie algebras,and exponential coordinates;then,based on the inherent geometric characteristics of the operating arm,the driving Decoupling mapping of space and joint space.Finally,through simulation experiments,the rationality of the given kinematic modeling process and the correctness of the kinematic mapping are verified.(2)Studying the trajectory planning method of a tendons-driven continuous robot with the goal of ensuring the smooth movement of the continuous robot.First of all,aiming at the realization of "point-to-point" planning of continuous robot joint space,a joint space trajectory planning method based on polynomial interpolation is proposed,and "multi-node plane bending motion planning" and "spatial grasping motion planning" are given ”Simulation and experimental examples.Then,aiming to realize the “point-to-point” trajectory planning of the continuous robot workspace,a method of workspace trajectory planning based on velocity-level inverse solution is proposed,and the simulation and experiment of “end-line path following” are used to effectively implement Sexual verification.The driving space results obtained from the simulations of the above three examples are used for prototyping.The operating arms can run smoothly,and the operating space of the operating arms can be consistent with the simulation results.This verifies the two trajectory planning methods.Effectiveness.(3)From the perspective of the safety of continuous robots performing operational tasks,the obstacle avoidance planning method for continuous robots driven by redundant DOFs is studied.First of all,an endoscopic detection motion planning method-"Dual Space Cooperative Planning Method" for the constraint characteristics of the inner surface of a gas cylinder is proposed.This method can not only reduce the order of high-dimensional kinematic models,but also avoid the " "Self-movement" phenomenon;in addition,this method also provides a solution for the unreliable use of continuous robot differential inverse kinematics near the singularity.The proposed "offset escape method" makes the planning have a certain ability to evade known obstacles automatically.This method simplifies the process of artificially setting the escape direction by autonomously and dynamically adjusting the direction and size of the free speed vector and improves the efficiency of motion planning.