Reseacher On Trajectory Planning And Motion Control Of Multi-joint Snake Robot

Our country is on the road of development as a strong manufacturing country.With the complexity and diversification of industrial products,the operation scenes are also intricate and space is narrow,which brings challenges to the flexible movement ability and control performance of robots.Snake-like robots have super redundant degrees of freedom,can flexibly avoid obstacles,and can ensure the safety of operations in small spaces.Therefore,they will have broad application prospects in all aspects of the industrial field.This paper pre-researched and designed a pneumatically driven snakelike robot with 24 degrees of freedom,and carried out in-depth research on its threedimensional obstacle avoidance motion planning.This research can be applied to the field of industrial robots in our country,in line with the national strategic plan.Aiming at the complex working environment in a small space,the structure size and performance indicators of the snake-shaped robot are quantitatively analyzed.Because the parallel mechanism has the characteristics of structural stability,strong load capacity and high control accuracy,this paper uses a small three-degree-of-freedom pneumatic parallel connection The mechanism serves as the joint module of the snake-like robot.The mathematical model is analyzed based on the structural characteristics,the pose coordinates of the whole system and the single joint module are described,the forward and inverse kinematics solutions of the working space and joint space,driving space and joint space are studied,and the serpentine shape is analyzed.The robot end effector can reach the working space.Kinematics and workspace analysis are the key to path obstacle avoidance planning and the basis for solving trajectory planning and motion control problems.Combining the shape and geometric characteristics of the multi-joint snake-shaped robot,the algorithm of obstacle collision detection is first carried out,and then the grid method is used to model the actual environment in three dimensions.Combined with the improved ant colony algorithm,a collision-free path point set can be obtained.Then smooth it with a spline function and add time series information.The closed-loop control strategy based on joint space is adopted,and the trajectory planning in the joint space is carried out using the fifth-order polynomial curve,and the trajectory planning in the Cartesian space is carried out using the improved end-following algorithm.The posture of the end effector is calculated through kinematics,stored in the experience pool,and the rest of the joints directly use its trajectory,and then calculate the expansion and contraction of each pneumatic outrigger through the kinematic relationship between the driving space and the joint space to realize the parallel mechanism The precise positioning motion control of the robot makes the whole snake robot reach the working posture without collision and smoothly.The physical simulation model of the system was built in MATLAB/Simulink,and the kinematics and dynamics of the single-joint module were simulated.The joint space and Cartesian space motion control systems were designed for the snake-shaped robot,and the trajectory planning and Motion control simulation research.According to the simulation results,the structural plan was further optimized,the pneumatic and electrical components were selected and the software control was written,and the demonstration joint control system was completed.The whole system was assembled and debugged.Repeated positioning and motion control experiments were carried out.The control accuracy performance indicators were tested with professional instruments.The recorded data was analyzed,and it was concluded that it has better motion control performance and comparison.High positioning control accuracy.