In order to establish" style="box-sizing: border-box;background: transparent">Industrial pipeline robot The kinematic model of a circular tube can solve 4 problems and design corresponding motion control algorithms.

(1) the instantaneous speed of the wheel center of a single wheel in any position and position on the pipe surface. The scientific problem of the kinematic characteristics of a single wheel in the pipeline is the description of its position and position and the speed of its wheel core satisfying the condition of pure rolling and no sideslip.   

💛(2) analyze the geometric constraints of wheeled mobile robots on the pipe surface, and deduce the relationship between 6 pose coordinates.

Wheeled robot runs in a three-dimensional cylindrical environment in the pipeline, and its pose coordinates change from the 3 dimension on the plane to the 6 dimension of the space. But because the robot has a specific geometric constraint when running in the pipeline, the 6 pose coordinates of tY are not independent of each other, so it is necessary to deduce the relationship between the 6 pose coordinates.   

(3) establish the kinematic model of wheeled mobile robot on the circular pipe surface. The difficulty of deriving the kinematic model is how to establish the relationship between the control rate and the change rate of position and posture coordinates. The control input directly affects the speed of the wheel core, and the wheel center determines the speed of the robot's rigid body, so it is necessary to analyze the relationship between the rigid body of the robot and the speed of the wheel core. The essence of this problem is to deduce the relationship between instantaneous screw motion parameters and control input, and the relationship between the pose change rate of the robot and the control input.   

(4) according to the kinematic model and operation requirements, the corresponding control rate is designed to keep the robot running in a horizontal direction. According to the established kinematic model, the attitude angle is taken as the state variable, and the corresponding control rate is designed through the feedback of the attitude sensor, so that the robot can run in accordance with the required attitude in the pipeline. The kinematic model is mainly used to design the control ratio and to analyze the stability of Lee Yap Andrianof's (Lyapunov) function.