| The biped wall-climbing robot has a tandem body and attaching end effector with alternating motion,so it has superior motion performance in the wall environment and it will be an important role to finish the wall task independently instead of worker in the future.Path planning can not only provide motion decision-making in autonomous operation process for biped wall climbing robot,but also provide effective target information for robotic control process.Effective and optimized motion path is not only the prerequisite for finishing tasks safely,but also can improve the efficiency of the robot operation process.At present,the path planning for biped wall-climbing robot in a wall environment is still lack of perfect research methods and theories.This paper takes biped wall-climbing robot as the object,proposes an effective planning method framework for its collision-free motion path in the spatial wall environment,and makes in-depth research on the planning method.The main research contents include:(1)Studying the configuration characteristics of biped wall-climbing robot during the transition between walls,and making structuring expression for the reachable workspace and walls with the help of the idea of graphics.By this,putting forward a fast judgment method for the wall transition based on the geometric intersection test,and further solving the global wall sequences of the robot motion by graph search according to the transitional topological map.An optimal mathematical model for solving transition footprint of the shortest path is established,by which the global wall sequence is optimized and the optimal global path is obtained.The simulation results verify the good performance of the method for probability analysis of wall transition and solving and optimizing transition footprints.(2)Based on the analysis of the robot's ability to overcome obstacles on wall,a classification criterion is established to classify wall obstacles.Besides,a continuous path planning method combining with the weight of obstacle is used to solve the guiding path of the biped wall-climbing robot's motion on wall.Combining guidance path and motion ability,a method of generating effective adhesion footprint set on the wall is proposed,and an optimal strategy of adhesion footprint searching is established.These methods can effectively solve the non-collision adhesion footprint sequence of biped wall-climbing roboton the wall.The simulation results verify the correctness of the theories and the efficiency of the algorithms for solutions of guidance path and adhesion footprint search.(3)According to the kinematics of biped wall-climbing robot with biped alternating attachment,the method of generating auxiliary path points based on the requirement of safe adhesion and the method of constructing repulsive potential function by artificial potential field method are proposed.Through the above methods,the change process for joint angles in robot's each step is planned in the joint space,and the collision-free motion path of robot from the initial configuration to the targeted configuration is finally obtained.The simulation results show the validity of the single step path planning method for biped wall-climbing robot.(4)Developing the control system of adsorbing end-effector based on the safe and reliable wall adsorbing movement for biped wall-climbing robot.The effectiveness of the control system is improved by combining multi-sensor information fusion and multiple control strategies.The wall attaching experiment of the robot proves that the control system can effectively complete the tasks including wall alignment and wall adsorbing for adsorbing end-effector.Combining with the three-level programming algorithms of the planning framework,the non-collision climbing path of biped wall-climbing robot from the starting point to the target point is solved in simulated spatial wall environments.The simulation results verify the effectiveness of the planning framework and methods in this paper. |
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