面向管道检测的连续体机器人主从控制研究

Research on Master-Slave Control of Continuous Robot for Pipeline Inspection

针对遥操作技术在连续体机器人应用中存在可移动性差、环境适应能力低与价格高昂等问题,提出一种连续体机器人主从控制方案。在常曲率圆弧假设下基于几何分析法建立连续体机器人的运动学模型,并在MATLAB软件中采用蒙特卡罗法对其工作空间进行仿真分析;建立主手关节空间与从手关节空间之间的映射模型,并提出一种基于主从映射模型的连续体机器人控制方法;最后搭建连续体机器人样机平台,分别通过运动控制实验、主从跟随实验和模拟管道通过实验对建立的运动学模型和主从控制方法进行验证。实验结果表明:连续体机器人具有较好的轨迹控制性能,验证了主从控制方法的有效性和准确性,满足了连续体机器人在管道内检测过弯的控制需求。

Aiming at the problems such as poor mobility,low environmental adaptability and high cost,a master-slave control scheme of continuous robot was proposed.Under the assumption of constant curvature arcs,the kinematic model of the continuous robot was established based on geometric analysis,and the workspace was simulated by Monte Carlo method in MATLAB software.Then a mapping model between master and slave joint space was constructed,and a continuous robot control method based on master-slave mapping model was introduced.Finally,a continuous robot prototype platform was built,and the established kinematic model and master-slave control method were validated by motion control experiment,master-slave following experiment and simulated pipeline traversal experiments.The experimental results show that the continuous robot has good trajectory control performance,confirming the effectiveness and accuracy of the master-slave control method,then the control requirements of the continuous robot in the pipeline bending detection are met.