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Spatial path tracking method of continuous robot

A space path, robot technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc.

Inactive Publication Date: 2014-04-02
CIVIL AVIATION UNIV OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In this technical background, there is still a lack of concise and effective methods for tracking the spatial path of continuous robots.

Method used

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  • Spatial path tracking method of continuous robot
  • Spatial path tracking method of continuous robot
  • Spatial path tracking method of continuous robot

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Embodiment Construction

[0079] The space path tracking method for a continuous robot provided by the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0080] 1 technical solution

[0081] 1.1 Structural analysis of continuous robot body

[0082] The continuous robot is a new type of bionic robot with high flexibility and suppleness. It generally consists of a flexible mechanism 1, a telescopic mechanism 2, a control system 3 and a mobile platform 4, such as figure 1 As shown; because the flexible mechanism 1 is similar to a meandering snake, it is called a snake arm here; the snake arm is usually a series mechanism composed of multiple structural units, and each structural unit is called a joint segment, which has two degrees of freedom of rotation and bending; The telescopic mechanism 2 has one degree of freedom and can realize one-dimensional precise movement. The lifting platform on the telescopic mechanism 2 is called th...

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Abstract

The invention discloses a spatial path tracking method of a continuous robot. The spatial path tracking method comprises the following steps of initializing, judging whether an origin of the path is located above an original point or not, ascending a snake-shaped arm to the origin of the path, directly bending the snake-shaped arm, stepping the snake-shaped arm forward, solving variable of a joint section of a tail joint of the snake-shaped arm, updating a gesture of the snake-shaped arm, and judging whether the path tracking is carried out or not. According to the spatial path tracking method of the continuous robot, any given spatial path can be tracked; by adopting the method, the path is taken as a reference in the whole tracking process, the integrated form of the robot is always consistent to the path, the range covered by travelling is smaller, and safety is high.

Description

technical field [0001] The invention belongs to the technical field of automatic control, in particular to a space path tracking method for a continuous robot. Background technique [0002] Traditional discrete robots (such as serial and parallel robots) all use rigid joints and connecting rod structures to realize multi-degree-of-freedom movements in free space, but because they generally only have 5 to 7 degrees of freedom, the number of degrees of freedom Limited, so the adaptability to the environment with limited working space is not strong; unlike discrete robots, continuous robots are "spineless" flexible structures, and robots use structures that can be flexibly changed in shape without any rigid joints and Connecting rod; this new type of bionic robot has good bending performance, can change its shape softly and flexibly, and its excellent bending characteristics can even be comparable to biological organs such as snake body, elephant trunk and octopus antennae; due...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1607B25J9/1625
Inventor 牛国臣王力高庆吉胡丹丹
Owner CIVIL AVIATION UNIV OF CHINA
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