Research on control method of drill pipe assembling and discharge robot based on neural network and Bezier spline trajectory planning

摘要

The existing rig work has the following characteristics: tedious operation, high repetition rate, poor efficiency, the number of carrying bar is not enough automatic drill pipe changer device. A drill pipe changer device is proposed and designed, which is applied to the industrial robot technology to achieve assemble and discharge of drill pipe. Deriving the mathematical solution of its positive solution, the inverse solution for the designed robot. Its work process requirements and path planning were analyzed, using five Time Bezier spline curve. Designing a PID controller based on neural network; and finally validating the validity of the trajectory planning method and control strategy by experiments.