Research on Master-Slave Control of Continuous Robot for Pipeline Inspection
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 effective-ness and accuracy of the master-slave control method,then the control requirements of the continuous robot in the pipeline bending de-tection are met.
万方数据
维普
