蛇形管道机器人设计与轨迹跟踪算法实现OACSTPCD

Snake robot,imitating the body structure and motion mechanism of snake,small in size and multiple with degrees of freedom,displays excellent motion performance in complex environment.A snake robot suitable for narrow pipe environment was proposed.With modular configuration,the proposed robot had 5 degrees of freedom,and kinematics analysis was conducted by Denavit-Hartenberg method.Based on the forward trajectory tracking control algorithm from the tail to the head of the robot,the trajectory tracking motion control method of the robot was established.The experimental prototype was designed and the experiments on motion control and actual pipe turning were carried out,which verified the rationality of the robot structure design,the correctness of the inverse kinematics and the effectiveness of the motion control method.