Research on Improved Hybrid Polynomial Interpolation Algorithm for Rail Inspection Robot

Abstract

In order to ensure the track stability when the rail inspection robot automatically tracks the moving target and reduce the amplitude of angular velocity and angular acceleration, it is necessary to study the trajectory planning strategy. Aiming at the problem that the amplitude of angular velocity and angular acceleration of 3-5-3 hybrid polynomial interpolation algorithm is too high, a 3-3-5 hybrid polynomial interpolation trajectory planning method is proposed. Firstly, the D-H (Denavit-Hartenberg) model of the rail inspection robot is used to compute its kinematics equation. Secondly, according to the constraints of motion curve (angle, angular velocity, angular acceleration continuous), kinematics constraints are obtained and interpolation points are determined. Thirdly, the coefficient expression of the hybrid polynomial interpolation algorithm is solved by substituting kinematics constraints and interpolation points into the formula of the 3-3-5 hybrid polynomial interpolation algorithm. Finally, the 3-3-5 hybrid polynomial interpolation algorithm is simulated in MATLAB. The results show that the 3-3-5 hybrid polynomial interpolation algorithm can effectively reduce the amplitude of the angular velocity and angular acceleration, reduce the jerk of the motor, and improve the overall motion performance of the inspection robot.