Manipulator-boat coordination control method of underwater unmanned vehicle and manipulator system

Abstract

The invention provides a manipulator-boat coordination control method of an underwater unmanned vehicle and manipulator system. An underwater unmanned vehicle control system is built through such equipment as a PC 104, a data acquiring plate, a manipulator motor, a propeller impeller, a magnetic compass and a Doppler speed measurer; the gesture information of each degree of freedom of the system is obtained; meanwhile, the hardware control is performed; an internal disturbance force observer is built according to position postures of a vehicle and a manipulator; a tilting moment and a coupling moment generated by the system posture change at each time are observed according to a Newton-Euler method; a coordination motion controller of the vehicle and the manipulator is built; and the manipulator disturbance force suffered by the vehicle in the operation process is compensated during controlling to realize stable and precise control of the vehicle in the operation process. The method can be actually applied to the UVMS control system design, achieves important significance on the aspects of autonomous operation and remote control operation of an underwater robot, and is used for realizing stable high-precision operation of the underwater unmanned vehicle.

Description

technical field [0001] The invention relates to a handboat coordinated control method of an underwater unmanned vehicle and a manipulator system. Background technique [0002] With the increasingly vigorous development of marine development and research, underwater unmanned aerial vehicles equipped with manipulators have achieved more and more achievements in underwater salvage, submarine rescue, maintenance of submarine facilities and recovery of devices, sampling of submarine organisms and rock specimens, etc. more and more widely applied. [0003] First of all, although the current underwater vehicle equipped with a manipulator can complete a large amount of work through remote control, it has major defects in its operating ability in a structured environment, and its operating range is also relatively limited. If the operation of the robot relies solely on human remote control, it will be difficult to achieve accurate positioning and operation of the end of the manipula...

AI Technical Summary

Problems solved by technology

[0003] First of all, although the current underwater vehicle equipped with a manipulator can complete a large number of operations through remote control, it has major defects in its operating capabilities in a structured environment, and its operating range is also relatively limited. If the operation of the robot relies solely on human remote control, it will be difficult to achieve accurate positioning and operation of the end of the manipulator in the disturbance of ocean currents.

Patent documents "A Motion Control Method for ROV Underwater Robots (CN105404303A)" and "S-plane Control Method for Floating Underwater Robots (CN1718378A)" involve motion control methods for underwater robots, although underwater The motion control of the robot, but because the movement of the manipulator during the operation will bring a large disturbance to the aircraft, and the disturbance force changes at any time according to the operation attitude, so the above control method based on the disturbance error feedback compensation is difficult to achieve during the operation. aircraft stability control

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