Master-slave underwater robotic arm delay control method

A technology of underwater machinery and time-delay control, applied in the field of robotics, can solve the problems of increased operating difficulty for operators, intermittent movement, and affecting the judgment of operators on the water surface

Active Publication Date: 2016-10-26
HARBIN ENG UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, in the actual control of underwater operations, when the underwater manipulator is operating in the deep sea, the transmission distance of the main hand control signal of the manipulator is long, and the traditional 485 bus communication transmission speed is slow, so the transmission delay time is long, which causes the slave hand to receive The control signal lags behind the operation on the water surface, and the submersible arm of the underwater manipulator has some adverse phenomena such as lag and intermittent movement during work, which affects the judgment of the surface operator on the position of the subhand, thus making the operation more difficult for the operator, which in turn affects the completion of the water. The efficiency of the next task

Method used

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  • Master-slave underwater robotic arm delay control method

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Experimental program
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Effect test

Embodiment 1

[0078] Embodiment 1, in conjunction with attached figure 1 , the method of the present invention comprises the steps:

[0079] Step 1: Given the structural parameters of the underwater manipulator, establish the kinematics model of the manipulator, and calculate the communication delay time from the master hand to the slave hand.

[0080] Step 2: Considering hydrodynamic factors, establish a dynamic model of the underwater manipulator to verify whether the performance of the manipulator meets the model requirements and can be applied to actual control operations.

[0081] Step 3: Delay the action signal of the master hand, cache the joint control signal at the first n times in the underwater controller, and then calculate the ideal joint motion of the slave hand at n+1 time based on the multi-power curve fitting method Location.

[0082] Step 4: Analyze whether the main hand of the manipulator has emergency operations such as emergency stop and change direction, and whether ...

Embodiment 2

[0084] Embodiment 2, in conjunction with attached figure 2 , to establish the dynamic model of the underwater manipulator. Firstly, without considering the hydrodynamic factors, the Newton-Euler equation is used to model the dynamics of the manipulator.

[0085] At any moment of movement of the underwater manipulator, the angle variable q of each joint of the manipulator i , speed variable acceleration variable i=1,...n as known conditions, solve the moment variable Q of each joint i , i=1,...n. According to the Newton-Euler method, the velocity and acceleration of each connecting rod of the manipulator are calculated forward iteratively. Assuming that the initial motion state of the base is determined, if the base is fixed, then 0 ω 0 = 0, Then, the force and moment of each joint of the manipulator is iteratively calculated backwards according to the Newton-Euler method. The initial condition is Assuming that the end point of the underwater manipulator can mo...

Embodiment 3

[0129] Embodiment 3, in conjunction with attached image 3 , the curve fitting is to obtain finite pairs of test data (x i ,y i ), use these data to find the approximate function y=f(x). In the formula, x is the output quantity, and y is the measured physical quantity. In delay control, the time is the output quantity, and the joint angle is the measured physical quantity.

[0130] The curve fitting method is applied to the delay control of the master-slave underwater manipulator, and the delay link time is set to two parameter cycles, which is called a two-cycle delay. In addition to the signal delay caused by the 485 bus transmission, the slave hand lags behind the main hand for three periods of movement. Process analysis: at the time i+3 of the main hand movement, due to the delay of the 485 communication signal, the underwater control at time i+3 The controller has just received the position of the master hand at time i+2, so the controller knows the position points at...

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Abstract

The invention relates to the technical field of robots, and provides a master-slave underwater robotic arm delay control method which can achieve coordinated control on the master arm and the salve arm of a master-slave underwater robotic arm in a bad operating environment and under the condition of transmission communication delay. The method comprises the following steps: giving the structure parameters of an underwater robotic arm, and making a delay analysis of the master and slave robotic arms according to a kinematics model of the underwater robotic arm; collecting hydrodynamic factors, and verifying whether the performance of the robotic arm meets the demand of the model according to the kinematics model of the underwater robotic arm; and delaying an action signal of the master arm, caching joint control signals at first n moments in an underwater controller, and calculating the ideal motion position of the joint of the slave arm at a moment n+1 based on a multi-power curve fitting method. The problem that an underwater robotic arm works intermittently due to a bad operating environment and transmission communication delay is solved.

Description

technical field [0001] The invention relates to the field of robot technology, and provides a master-slave underwater manipulator that can ensure the coordinated control of the master and slave hands of the underwater manipulator under the conditions of harsh working environment and delay in transmission and communication. Time-delay control method of underwater manipulator. Background technique [0002] Due to the complex underwater environment, there are environmental conditions that are not conducive to human work such as seawater pressure, low visibility, and temperature drop. The master-slave underwater multifunctional manipulator can be used to cooperate with the operating underwater robot to replace humans in dangerous environments such as deep sea. The robotic arm can be used for seabed exploration and mining, underwater pipeline maintenance, oil pipeline laying and other work. The underwater robotic arm not only reduces the risk of human underwater operations, but ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 魏延辉罗姗姗姚贵鹏乔金鹤张皓渊李宁波郭锐洪国庆
Owner HARBIN ENG UNIV
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