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Snakelike robot motion control method based on genetic simulated annealing algorithm

A simulated annealing algorithm and robot motion technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve problems such as low precision, complicated process, and poor reliability

Active Publication Date: 2017-03-22
SOUTH CHINA UNIV OF TECH
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  • Description
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AI Technical Summary

Problems solved by technology

In the current technology, although there are some motion control related to the snake-like robot, the inverse solution process is more complicated, the precision is low, and the reliability is poor, which makes it impossible to effectively control the motion of the snake-like robot.

Method used

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  • Snakelike robot motion control method based on genetic simulated annealing algorithm
  • Snakelike robot motion control method based on genetic simulated annealing algorithm
  • Snakelike robot motion control method based on genetic simulated annealing algorithm

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Embodiment Construction

[0074] Reference figure 1 , The present invention provides a snake-shaped robot motion control method based on genetic simulated annealing algorithm, including the steps:

[0075] Obtain the target position and target posture of the snake-shaped robot's head joint;

[0076] The genetic simulated annealing algorithm is used to inversely solve the snake-like robot and obtain the rotation angle of each joint of the snake-like robot;

[0077] The driver of the snake robot obtains the rotation angle of each joint obtained by the solution and controls each joint to rotate. After the rotation angles of the joints of the snake-like robot are obtained, the joints can be controlled to rotate according to the control level of the prior art.

[0078] As a further preferred embodiment, refer to figure 2 The step of using the genetic simulated annealing algorithm to inversely solve the snake-shaped robot to obtain the rotation angle of each joint of the snake-shaped robot includes:

[0079] S1, i...

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Abstract

The invention discloses a snakelike robot motion control method based on a genetic simulated annealing algorithm. The method comprises steps that a target position and a target attitude of a first joint of a snakelike robot are acquired; inverse solution of the snakelike robot is carried out through employing the genetic simulated annealing algorithm, a rotation angle of each joint of the snakelike robot is acquired through solution; the rotation angle of each joint acquired through solution is acquired by a driver of the snakelike robot, and each joint is controlled for rotation. The method is advantaged in that advantages of a genetic algorithm and advantages of a simulated annealing algorithm are organically combined, efficiency of the algorithm is not only improved, but also global control capability of the algorithm can be improved, so high accuracy is realized, relatively high reliability is realized, motion control on the snakelike robot can be effectively carried out, and the method can be applied to the control field of snakelike robots.

Description

Technical field [0001] The invention relates to the control field of snake-shaped robots, in particular to a snake-shaped robot motion control method based on a genetic simulated annealing algorithm. Background technique [0002] Biological snake is a unique animal in nature. Compared with other animals, the most special place is that it can complete various required movements without the cooperation of legs, such as forward, backward, roll, Winding, climbing, etc. In various complex environments, such as deserts, muddy lakes, grasses, etc., biological snakes can adapt to various environments and move freely in various complex environments due to their unique mechanisms and physiological characteristics. [0003] Snake-shaped robot is a kind of bionic robot with unique structure that imitates biological snake. Compared with general footed robots, wheeled or crawler robots, its biggest feature is that it does not have a structure with legs and wheels. Its motion is completely depe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 魏武张晶徐杰斌何振勇麦日升
Owner SOUTH CHINA UNIV OF TECH
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