Snake-shaped robot path following planning method

Abstract

The invention discloses a snake-shaped robot path following planning method, and relates to the technical field of snake-shaped robot motion planning and control. The method comprises the following main steps that (1) a snake-shaped robot path curve is generated; (2) a snake-shaped robot joint position is searched; and (3) the snake-shaped robot joint angle is inversely worked out. According to the method, the motion of the snake-shaped robot is planned through a space curve path following method, so that the area swept by the snake-shaped robot in the space during the movement process is as small as possible, and the snake-shaped robot can flexibly enter a narrow closed space for carrying out operation; the iteration step size of each point searching is saved as an estimated value of thenext-time point searching, and the number of times of the iteration calculation can be effectively reduced; and the calculation efficiency is high, the calculation amount is small, the programming realization is simple, and the method can be further used for real-time control of complicated space movement of the snake-shaped robot.

Description

technical field [0001] The invention relates to the technical field of motion planning and control of a snake-like robot, in particular to a path-following planning method for a snake-like robot. Background technique [0002] The snake-like robot has many degrees of freedom and is very flexible so that it can be applied to the inspection and maintenance of complex equipment such as nuclear plant pipelines, aircraft engines and wing fuel tanks. However, the snake-shaped robot has many degrees of freedom, and it is difficult to obtain its kinematics inverse solution. Therefore, its motion planning problem is also relatively complicated, which has always been a hot topic of research by scholars; through literature research, it is found that the motion planning of snake-shaped robots is mainly through the following Several methods are solved: iterative method based on Jacobian, geometric relation and heuristic iterative method and curve programming method. [0003] Although the...

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Problems solved by technology

[0003] Although the snake robot does not have an analytical inverse, it can use the Jacobian's generalized inverse iteration to move to the target point. The usually used Jacobian iteration is essentially an optimization process, and the Jacobian's generalized inverse is the optimal solution for this optimization problem. Solution; Jacobian iteration is iterative optimization based on its kinematic model. This type of algorithm has a large amount of calculation and is not efficient. Therefore, many scholars regard the robot as a multi-link structure and directly use geometrically inspired iterations such as cyclic coordinate descent. This type of algorithm is efficient to obtain the robot path, but it is difficult to consider constraints such as joints, and it is easy to fall into a local minimum when planning; the curve planning method refers to using a curve to represent the configuration of the manipulator, and planning at different times The position and shape of the curve are used to determine the configuration of the manipulator. At each moment, the manipulator is controlled to match the corresponding configuration curve. Usually, the number of parameters in the selected curve is much smaller than the number of degrees of freedom of the robot, so that the robot motion planning The number of dimensions is greatly reduced, but this algorithm makes the robot sweep a larger space when moving, which is not conducive to the snake robot's work in a small closed space

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