基于导航路径约束的多模块柔性检测机器人运动规划研究

Research on Motion Planning of Multi-module Flexible Detection Robot Based on Navigation Path Constraints

连续体机器人运动规划复杂且控制精度低是制约其深入研究和快速应用的重要难题。基于几何分析法对连续体机器人进行运动学建模研究,构建关节空间与末端笛卡尔空间的映射模型,在此基础上对其工作空间进行分析。为满足柔性检测机器人在狭小空间的快速介入和准确探测需求,提出一种基于导航路径约束的机器人运动规划方法,以连续体机器人各弯曲单元前后端点与理想轨迹间的最小距离作为目标函数,通过逆向递推的方法逐节求出各弯曲单元关节参数,从而控制机器人沿着预设导航路径进行介入运动。最后分别通过平面C形弯曲曲线和空间路径的运动规划仿真实验对所提路径规划算法进行验证,同时研究该规划方法下机器人关节长度及单元个数变化时机器人的跟随效果。仿真结果表明:所提运动规划方法能够有效控制连续体机器人沿着预设路径进行介入运动,并具有较高的控制精度和较强的适应性。

Continuum robots complex motion planning and low control accuracy are important problems that restrict its in-depth research and rapid application.The kinematic modeling of the continuum robot was studied based on the geometric analysis method and the mapping model of the joint space and the end Cartesian space was constructed.According to the requirements of fast intervention and accurate detection,a robot motion planning method based on navigation path constraints was proposed.The minimum distance between the front and rear endpoints of each bending unit of the continuum robot and the ideal trajectory was used as the objective function,and the reverse recursion method was used to calculate section by section.The joint parameters of each bending unit were obtained,so as to control the robot to perform interventional motion along the preset navigation path.Finally,the proposed path planning algorithm was verified by the motion planning simulation experiments of the plane C-shaped curved curve and the space path,and the following effect of the robot when the length of the robot joint and the number of units changed under the planning method was studied.The simulation results show that the proposed motion planning method can effectively control the continuum robot to perform interventional motion along the preset path,and has high control accuracy and strong adaptability.