Complex Trajectory Planning based Motion Control Algorithm for Compliance Composite Rod Scraper Robot

Composite material is widely used in modern industry due to its high strength, aging resistance, and strong environmental adaptability. Therefore, composite material manufacturers have a growing need to improve the production efficiency of composite materials. Then, a composite rod scraper robot for the production of composite materials and a complex trajectory planning-based motion control algorithm are proposed. Firstly, the mechanism and principle of the composite rod scraper robot are first introduced. According to the scraping model of rectangular composite rod and the process of mandrel rotation, the trajectory of the scraper head is analyzed. Then the trajectory planning method for the rectangular composite rod is presented. Finally, the validity of the proposed algorithm is confirmed by the experiments. The experimental results show that the designed composite rod scraper robot can follow the trajectory of rotating mandrel precisely with complex trajectory planning method.