Immersion boundary control method used for underwater obstacle avoidance of multi-joint snake-like robot

A snake-like robot and boundary control technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as long calculation time, complex solutions, and inability to explain the movement of fluid motion particles, etc., to achieve parallel realization and simple calculation Effect

Inactive Publication Date: 2019-04-05
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0008] In view of the shortcomings of the six commonly used obstacle avoidance control methods for multi-joint snake-like robots, and the fluid-solid coupling calculation of multi-joint snake-like robots under water, there are two shortcomings in s

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  • Immersion boundary control method used for underwater obstacle avoidance of multi-joint snake-like robot
  • Immersion boundary control method used for underwater obstacle avoidance of multi-joint snake-like robot
  • Immersion boundary control method used for underwater obstacle avoidance of multi-joint snake-like robot

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Embodiment 1

[0047] This embodiment discloses an immersion boundary control method for a multi-joint snake-like robot to avoid obstacles underwater. The flow chart is as follows: figure 1 As shown, the specific implementation steps are as follows:

[0048] Step 1: In order to solve the problem that solving the Navier-Stokes equation cannot explain the mutually exclusive theories such as fluid motion, particle motion, and random motion, starting from the perspective of probability and statistics, without considering molecular collisions, within the time Δt, get The continuous lattice Boltzmann equation satisfies formula (1), and then the continuous lattice Boltzmann equation is discretized, and a simple operator Ω is introduced i (f i ) to replace the collision function, the nonlinear discrete lattice Boltzmann equation is obtained, which satisfies the formula (2),

[0049] f i (x+Δx,ζ+aΔt,t+Δt)dxdζ=f i (x,ζ,t)dxdζ (1)

[0050] f i (x+e i Δx,t+Δt)-f i (x,t)=Ω i (f i )+Δt·G i (2)...

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Abstract

The invention discloses an immersion boundary control method used for underwater obstacle avoidance of a multi-joint snake-like robot, and belongs to the field of robot control. The implementation method comprises the steps that the lattice Boltzmann method is introduced to replace a traditional Navier-Strokes equation for solving fluid and in second order partial differential equation simulation,and starting from the angle of probability statistics, the macroscopic and microcosmic relation and the discrete and continuous relation are solved from different angles. The lattice Boltzmann methodis simple in calculation, and parallel realization is easy. When complex boundary conditions are treated, macroscopic and microcosmic conversion can be achieved, a flexible multi-joint snake-like robot force source model is set up through an immersion boundary method, Euler variables in a fluid field are adopted for controlling the fluid dynamic state, the motion boundary of the multi-joint snake-like robot is controlled through the Lagrange variable of the force source model, a smooth Delta approximate function is used for controlling the interaction of nonlinear fluid field force and the force source boundary through distribution node force and the difference value speed, and nonlinear control of the multi-joint snake-like robot is achieved.

Description

technical field [0001] The invention relates to a control method for the obstacle avoidance movement of a multi-joint snake-like robot, in particular to a control method for the immersion boundary of a multi-joint snake-like robot for underwater obstacle avoidance, and belongs to the field of robot control. Background technique [0002] The multi-joint snake-like robot is a multi-degree-of-freedom robot with multi-joint, high redundancy, and limbless structure that imitates snake-like motion. It can effectively realize amphibious operations. It has stable motion, changeable motion forms, and strong environmental adaptability. Therefore, as a multi-degree-of-freedom multi-joint snake robot, it has attracted extensive attention from researchers from many countries. [0003] There are abundant natural resources in large underwater environments such as lakes, rivers, and oceans, but due to the existence of rocks, corals, fish schools and other suspended matter, and the lack of h...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/16
CPCB25J9/065B25J9/1648B25J9/1664
Inventor 李东方周志昊刘培君危怡然邓宏彬潘振华
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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