Grabbing arm type trash cleaning robot motion control system

Abstract

The invention discloses a grabbing arm type trash cleaning robot motion control system. In order to thoroughly clean up trash attached to and wound around grid bars, grab bucket claw teeth of a trashcleaning machine need to stretch into the grid bars of a trash rack, and meanwhile, a grab bucket cannot collide with the trash rack and runs along the grid bars from top to bottom according to a settrack. In the work process of the trash cleaning machine, the running track of the grab bucket needs to be smooth and continuous, and the speed, the accelerated speed, the continuous change of pulsation and the execution efficiency of all joint nodes need to be well controlled. The trash cleaning robot is a plane three-degree-of-freedom series robot, the tail end posture is that the trash cleaningrobot rotates around the axis perpendicular to the plane, a track planning method of a tail end executor of the trash cleaning robot comprises the steps that according to the actual trash cleaning path of the trash cleaning robot, a track planning model is built, the whole path is divided into five stages, path interpolation is conducted through interpolation manners such as sine acceleration anddeceleration and quintic polynomial, and the track of all hydraulic cylinders is smooth and continuous after track planning.

Description

technical field [0001] The invention relates to a motion control system, in particular to a motion control system of an arm-grabbing cleaning robot, and belongs to the technical field of motion control of cleaning robots. Background technique [0002] The cleaning robot is a device for intercepting and cleaning up debris in water conservancy facilities, in front of the sluice gate, in front of the dam, and at the water inlet of hydropower equipment. During the cleaning process, relying on the grabbing arm to forcibly press down, it can realize the cleaning of the dirt on the trash rack and the grabbing of the dirt in front of the trash rack at the same time. Compared with other cleaning equipment: rotary cleaning machine, rake bucket type Sewage cleaning machines, etc., grabbing arm-type cleaning robots can effectively improve the cleaning effect and efficiency, especially for high-strength upstream dirt that is concentrated in front of the trash rack at the intake and drain...

AI Technical Summary

Problems solved by technology

However, there is currently no research on the control system of this type of cleaning robot, and there is no applicable mature product on the market. Therefore, there is an urgent need for a motion control system for the arm-type cleaning robot, which can plan the trajectory and speed of each hydraulic cylinder separately. , so that the position and velocity curves of each joint are continuous without sudden changes, and the transition between path points is smooth

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