Research On Trajectory Planning Of Cover Robot Based On ROS

With the development of the industrial robot industry,many nuclear power plant maintenance work will be replaced by industrial robots,and robots will gradually optimize and improve various maintenance tasks.Among them,in the repair work of the steam generator of the nuclear power plant,the block plate installation work needs to be carried out inside the steam generator first.When the work needs to be completed by the robot,it is necessary to carry out the relevant solution research on the working path of the robot,and find a solution that can complete the work.best working path.Taking the M310 reactor steam generator primary side blocking plate disassembly and assembly robot project as the background,this paper studies the related automatic cover plate work of the blocking plate disassembly and assembly robot,studies the related problems in the path planning process,and completes the automatic path of the robot.Planning tasks and optimizing the overall planning process.The main research contents are as follows:Firstly,the research background and significance of the subject are discussed and analyzed,the known research problems are summarized,and a design scheme of the cover robot suitable for this project is obtained.The six-degree-of-freedom AUBO-i10 industrial manipulator is studied and analyzed,and the relevant representation of the industrial manipulator,forward kinematics analysis,inverse kinematics analysis,DH parameters of the industrial manipulator,and the mathematical model construction method of the manipulator are discussed.Finally,The relevant mathematical model is established for analysis and discussion,and the relevant parameters of the manipulator are obtained through simulation,which verifies the feasibility of the cover plate task.Then,in view of the problem that the blocking plate disassembly and assembly robot used in the project needs to work through a teach pendant and the degree of automation is not enough,the robot operating system ROS(Robot Operating System)is used as the simulation platform to design the cover plate robot and build related The working environment,including the model establishment of the steam generator,the model establishment of the cover robot,the related collision detection,the dynamic configuration and motion control of the robot,etc.,simulate the working process of the automatic cover robot.The working path planning and solution of the cover robot is carried out on the built simulation experiment platform,and the relevant verification and analysis are carried out on the obtained results,which can complete the relevant steam generator blocking plate installation tasks,and the teaching pendant is no longer required for related tasks.The manual debugging completes the cover work.Finally,the traditional RRT(Rapidly Exploring Random Tree)algorithm used in the path planning process of the cover robot is optimized and improved.Aiming at the excessive randomness of the RRT algorithm and the problem of low success rate in complex terrain,a combination of An improved RRT path planning algorithm based on the idea of the potential field method.An improved gain composite point selection function is proposed.According to the comprehensive influence of the force field and the narrow space,a new node selection algorithm is established to generate nodes with probability,reduce more invalid selection points,and greatly improve the overall point selection efficiency.Finally,experiments show that the number of nodes generated by the improved algorithm is reduced by about 86.22% and the overall working time is reduced by about 67.6%.