Large contact area trajectory planning algorithm for fuel tank with irregular surfaces

Abstract

When the robot uses the flat scrub head to clean the outer surface of the fuel tank, the recessed structure near the ends of the fuel tank cannot be in good contact. In this paper, the outer contour of the fuel tank is detected by laser ranging sensor and described by NURBS curve. The interference between the scrub head and the fuel tank is divided into 16 cases. It is further divided into 4 types, and different adjustment algorithms are studied for different types. The article also studies the motion characteristics of the end trajectory. The results show that the proposed algorithm can greatly improve the contact area between the scrubbing head and the fuel tank surface, and ensure that the motion characteristic curve is smooth and will not impact the robot.