The invention discloses a two-degree-of-freedom motion control method for a cable detection robot. The two-degree-of-freedom motion control method specifically comprises the following steps: step 1, establishing a coordinate system; step 2, establishing a rotating speed model; step 3, solving the rotating speed; step 4, establishing a control efficiency model; step 5, establishing an attitude model; step 6, solving the attitude angular velocity; step 7, performing coordinate transformation; and step 8, performing two-degree-of-freedom control. According to the invention, two-degree-of-freedom arbitrary control in the axial direction and the circumferential direction of the cable can be realized, effective detection can be carried out on cables with different inclination angles and the same cable with uniformly changed cable body diameters, and the detection range covers the types of smooth long straight cables and spiral cables; therefore, the cable can be detected in an invariable posture and a spiral rising posture along the axial direction of the cable.
本发明公开了一种缆索检测机器人的二自由度运动控制方法,具体包括步骤为:步骤1、建立坐标系;步骤2、建立转速模型;步骤3、求解转速;步骤4、建立控制效率模型;步骤5、建立姿态模型;步骤6、求解姿态角速度;步骤7、坐标转换;步骤8、二自由度控制。本发明能实现在缆索的轴向和周向的二自由度的任意控制,能针对不同倾斜角度缆索、索体直径均匀变化的同一缆索进行有效检测,检测范围覆盖光滑长直缆索和螺旋线缆索类型,即能以沿着缆索轴向方向不变的姿态和螺旋上升姿态对缆索进行检测。
Two-degree-of-freedom motion control method of cable detection robot
一种缆索检测机器人的二自由度运动控制方法
14.12.2021
Patent
Elektronische Ressource
Chinesisch