Attitude control system and method for roadway unstructured space redundancy monitoring robot

Abstract

The invention provides an attitude control system and method for a roadway unstructured space redundancy monitoring robot, and belongs to the field of continuous robots. The system comprises a core controller, an upper computer, a sensor module, a potentiometer, a snakelike arm attitude control module, a rope driving module and a snake-shaped arm motion module. The method comprises the following steps: collecting roadway environment information; obtaining variable quantity of each joint angle of the snake-shaped arm; controlling angles of all joints of the snake-shaped arm, and transmitting voltage values, measured by the potentiometer, corresponding to the angles of all the joints to the core controller; calculating the voltage value to obtain a joint deflection angle, and further converting the joint deflection angle into a driving signal; driving the snake-shaped arm motion module, so that the redundant monitoring robot reaches a preset pose; and displaying the variable change condition of the redundant monitoring robot and the information collected by the sensor module. The problems that in the control process, the rotation angle of each joint is not easy to determine, and the mechanical arm cannot be flexibly controlled according to actual complex and changeable conditions are solved.

Description

technical field [0001] The invention belongs to the field of continuous robots, and in particular relates to an attitude control system and method for a redundant monitoring robot in a shaft unstructured space. Background technique [0002] The shaft space is narrow, there are many obstacles, and the environment is harsh. When the mechanical equipment fails, it is difficult to repair. The traditional discrete robot has a limited number of degrees of freedom due to the rigid joint and connecting rod structure, and is not adaptable to the environment with limited working space. , unable to complete the monitoring and maintenance tasks of shaft equipment. The continuous robot is a "spineless" flexible structure, which can change its shape softly and flexibly, so as to pass through various complex and unstructured spaces flexibly, and has a simple mechanical structure, small size, and flexible movement. Good stability. Therefore, continuous robots are very suitable for equipme...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, this application proposes a robot attitude control system and method for unstructured space redundancy monitoring in shafts, which solves the problem that it is difficult to determine the rotation angle of each joint during the control process, and it is impossible to adjust the robot arm according to the actual complex and changeable situation. The problem of flexible control

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