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Underwater unmanned ship-double mechanical arm cooperative control method based on task grading time sequence optimization

ActiveCN112068576AReduce the difficulty of underwater operation controlImprove coordinationAltitude or depth controlControl engineeringManipulator
The invention discloses an underwater operation-oriented underwater unmanned ship-double mechanical arm cooperative motion planning method and an application thereof. According to the invention, underwater double-mechanical-arm control is combined with a planning method based on task grading time sequence optimization, actions needing to be executed by the underwater robot are subdivided into a plurality of tasks, and the execution sequence is reasonably optimized and divided so that dynamic disturbance caused by mechanical arm movement to the underwater unmanned ship is reduced, and the underwater unmanned ship can run more stably. According to the control method, tasks of keeping a hovering height of the unmanned ship and avoiding obstacles are set to be high in priority, and the safetyof equipment is guaranteed as much as possible. A problem that an underwater unmanned ship-double arm manipulator is difficult to control is solved, purposes that the underwater double-arm manipulatoroperates autonomously and safely and an overall operation platform composed of the underwater unmanned ship-double arm manipulator operates stably in pose are achieved, and safe and stable platform technical support is created for improving a underwater operation capacity.
Owner:HUAZHONG UNIV OF SCI & TECH
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