The invention discloses a
robot team coiling motion track
planning method and
system based on an infinitesimal method dynamic
time sequence model, and belongs to the technical field of
robot activity analysis, and the method comprises the following steps: obtaining structure parameters and spiral coiling parameters of a
robot team, and carrying out model
hypothesis; calculating infinitesimal displacement of a front
handle of the head robot in each infinitesimal section, performing infinitesimal iterative calculation to obtain polar coordinates of the head robot, iteratively solving the polar coordinates of each
handle in the direction from the head robot to the
tail robot in combination with the structural parameters, converting the polar coordinates into
rectangular coordinates, and calculating to obtain
instantaneous speed of each
handle; on the basis of the
rectangular coordinates and the instantaneous speeds of the handles, position
time sequence data and
instantaneous speed time sequence data of the handles are generated,
collision detection is carried out in combination with the structural parameters, and after the critical moment when the head robot does not collide is determined, position data and instantaneous speeds of the handles at the critical moment are obtained; and
simulation is carried out to obtain a robot team disk-in motion track. According to the invention, the motion process of the robot team can be dynamically analyzed and simulated in real time.