RESEARCH ON VISUAL PERCEPTION AND SERVO CONTROL METHODS FOR CONTINUUM ROBOTS IN IN-SITU AERO-ENGINE MAINTENANCE

Description

To address the maintenance needs of aero-engines in narrow, complex, and constrained environments, this research aims to develop visual perception and servo control methods for a continuum robot to achieve efficient in-situ inspection. By integrating multi-modal geometric feature perception technology and considering optimal trajectory planning algorithms based on system potential energy, a collision-free shortest connected region search method based on hybrid convex optimization and probabilistic sampling is proposed. This method is applied to the optimal obstacle-avoidance path planning of the continuum robot, enabling intelligent trajectory planning. This project will tackle key challenges related to redundancy in degrees of freedom, complex modeling, and real-time control, and will be validated through simulations and physical testing.

Period	Mar 2025 → …