The invention belongs to the field of track planning of an industrial robot and discloses a robot real-time corner transition method based on Bezier spline The method comprises the following steps: recording the coordinates of a start point and a transition point of a joint space, the coordinates of a target point and the transition point of a Cartesian space, the transition radius R and the maximum error constraint of the Cartesian space; calculating the coordinates of the start point and the end point of a transition curve of the Cartesian space and the coordinates of the start point of the transition curve of the joint space; calculating the unit vector of the velocity direction of the start point and the end point of the transition curve of the Cartesian space; calculating the coordinates of a middle control point of the transition curve of the Cartesian space and solving a constructor function of a Bezier spline curve; finally performing velocity planning and interpolation By adopting the method disclosed by the invention, transition radius and maximum transition error constraints are realized during transition between a point-to-point motion command and a linear motion command, and the corner transition between the point-to-point command and the linear motion command is implemented with high efficiency and high quality

Robot real-time corner transition method based on Bezier spline

The invention provides an inverse kinematics solving method of a multi-joint mechanical arm plane snakelike trajectory motion. A trajectory includes three different processes; the first phase is that a base is matched with a mechanical arm to forwards avoid from an obstacle according to a preset trajectory to reach an appointed position; the second phase is that the base is fixed and the mechanical arm finishes movement up and down in the appointed position to finish corresponding work; and the third phase is that the base is matched with the mechanical arm to return to an initial position after the mechanical arm finishes the corresponding work. In each phase, under the conditions of giving the terminal position and gesture to the mechanical arm, geometric expressions of all joint positions of the mechanical arm are derived; and through a series of simple solving methods, the inverse kinematics of the multi-joint mechanical arm moving according to the given trajectory is obtained. The method can quickly obtain the inverse kinematics under the conditions of giving all joint parameters and needed motion trajectory of the mechanical arm so as to control the motion of the mechanical arm.

Inverse kinematics solving method of multi-joint mechanical arm plane snakelike trajectory motion

The invention discloses an immersion boundary control method used for underwater obstacle avoidance of a multi-joint snake-like robot, and belongs to the field of robot control. The implementation method comprises the steps that the lattice Boltzmann method is introduced to replace a traditional Navier-Strokes equation for solving fluid and in second order partial differential equation simulation,and starting from the angle of probability statistics, the macroscopic and microcosmic relation and the discrete and continuous relation are solved from different angles. The lattice Boltzmann methodis simple in calculation, and parallel realization is easy. When complex boundary conditions are treated, macroscopic and microcosmic conversion can be achieved, a flexible multi-joint snake-like robot force source model is set up through an immersion boundary method, Euler variables in a fluid field are adopted for controlling the fluid dynamic state, the motion boundary of the multi-joint snake-like robot is controlled through the Lagrange variable of the force source model, a smooth Delta approximate function is used for controlling the interaction of nonlinear fluid field force and the force source boundary through distribution node force and the difference value speed, and nonlinear control of the multi-joint snake-like robot is achieved.

Immersion boundary control method used for underwater obstacle avoidance of multi-joint snake-like robot

The invention discloses a tangent line control method for S-shaped bionic robot turning movement, relates to a control method for S-shaped bionic robot turning movement and belongs to the field of robot control. The method includes the following steps that when phi is smaller than alpha, a tangent line control equation is adopted for control, so that an S-shaped curve generated in the S-shaped bionic robot turning process is kept unchanged, and the continuous turning angle is guaranteed; when phi is larger than alpha, the amplitude angle alpha of an S-shaped bionic robot is adjusted so as to be increased to a proper value, the tangent line control equation is adopted for control, the S-shaped curve generated in the S-shaped bionic robot turning process is kept unchanged, and the continuous turning angle is guaranteed; and after the robot makes a turn, the amplitude angle alpha is adjusted so as to be returned to the amplitude angle alpha obtained before the robot makes the turn, and therefore the S-shaped curve generated in the turning process is kept unchanged and the turning angle phi is continuous. The method has the technical beneficial effects that the S-shaped curve is fully kept unchanged in the S-shaped bionic robot turning process and after the S-shaped bionic robot makes the turn, and the problem that the turning angle is limited to the amplitude and is not continuous can be solved.

Tangent line control method for S-shaped bionic robot turning movement

The invention discloses a snake-imitated robot control method, and relates to the field of motion planning and control of snake-imitated robots. The method mainly comprises following steps of buildinga snake-imitated robot kinetic model based on velocity resolution, and achieving motion control through a design index stability controller; building a snake-imitated robot rigidity model, in combination with a dynamics structure rigidity and energy equation, and adopting a multi-objective optimization algorithm for optimizing the rigidity and energy; and finally, through control over the joint rigidity, achieving snake-imitated robot form stability. The aims of achieving the stable motion of the snake-imitated robot under the external force impact effect of the exterior environment and improving the environment adaptation capacity of the snake-imitated robot are achieved.

Snake-imitated robot control method

The invention discloses a combined control method for turning motion of a snake-shaped bionic robot and belongs to the field of robot control. The combined control method comprises the following steps of introducing an amplitude adjustment factor zeta for adjusting an amplitude angle alpha; when phi is smaller than alpha, adopting an equation set (5) to control a snake-like curve in the turning process of the snake-shaped bionic robot to be kept unchanged, guaranteeing the continuousness of a turning angle phi, and improving the motion stability; when the phi is greater than alpha, simultaneously performing turning operation and adjusting the amplitude angle alpha by adjusting the amplitude adjustment factor zeta in the turning process of the snake-shaped bionic robot; adopting the equation set (5) to control for realizing the effect that the turning angle phi and the snake-like curve before turning are maintained when the snake-shaped bionic robot performs turning motion; and restoring the motion state of the snake-shapedbionic robot to an original state while finishing turning. The invention aims to solve the technical problem that the turning time is further shortened on the basis of realizing the advantages of a tangent control method, and the motion stability of the snake-shaped bionic robot is enhanced.

Combined control method for turning motion of snake-shaped bionic robot

The invention belongs to the field of robots and relates to a two-wheel jumping type intelligent robot. By adoption of a jumping mechanism with springs driven by a cam plate, various problems including insufficient jumping distance, structural complexity, failure in repeated jumping and the like of existing jumping robots are solved. Functions of accurate tracing and jumping attack of targets canbe realized by adoption of a simple mechanical structure; by adoption of a method of networking multiple units for synergistic operation, problems of failure in autonomous task completion, failure incontinuing of operation after damage and failure in target recognition of an existing traditional ground multi-purpose robot are solved, and active reaction to target behavior and environmental changes is realized without human intervention. The two-wheel jumping type intelligent robot has advantages that mission effectiveness is achieved through ad-hoc networking of communication modules of the units, target recognition is realized through sensors, actions of moving, jumping, detecting and the like are realized, and a moving and jumping mechanical structure especially for intelligent mines isachieved.

Zhang Guoxiu

Papers

Combined control method for turning motion of snake-shaped bionic robot

Tangent line control method for S-shaped bionic robot turning movement

Two-wheel jumping type intelligent robot