Underwater robot control method taking regard of multi-body coupling

A technology of underwater robot and control method, applied in the direction of non-electric variable control, height or depth control, control/regulation system, etc., can solve the problems that the multi-body system dynamics cannot directly apply servo motors, and the control ability cannot meet the requirements, etc. , to achieve the effect of stable base, improved control effect and stable control platform

Active Publication Date: 2017-12-05
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

In this case, multibody system dynamics cannot be directly applied to servo motors to exert force control on the motors
such control capabilities are not adequate for today's underwater vehicles

Method used

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  • Underwater robot control method taking regard of multi-body coupling
  • Underwater robot control method taking regard of multi-body coupling
  • Underwater robot control method taking regard of multi-body coupling

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Experimental program
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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] Take the tracking task of the end pose of the robotic arm by an underwater robot equipped with a six-degree-of-freedom robotic arm as an example.

[0027] First, the kinematics control module IK calculates the reference trajectory of the base and the robotic arm according to the following formula:

[0028]

[0029] In formula (1.1), is the calculated reference trajectory, where the first six elements are the reference trajectory of the base, and the last six elements are the reference trajectory of the manipulator, and they are sent to the speed loop of the manipulator and the base controller respectively. Related to the pedestal Jacobian matrix, represents the linear velocity of the manipulator, ω ee Represents the angular velocity of the manipulator; K a is the error feedback coefficient; Represents the position and attitude error c...

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Abstract

The invention discloses an underwater robot control method taking regard of multi-body coupling. The method comprises steps that 1), the multi-body system kinetics is utilized to realize control planning of reference tracks of an underwater robot base and an arm, and the reference tracks are respectively transmitted to the arm and the base in a speed signal mode; 2), the speed signal is received by a speed ring of the arm, and a position ring of the arm is formed by a kinetics control module; 3), the speed signal of the arm and base parameters are received by a combined body iteration dynamics module, and the coupling force of the arm for the base is outputted; and 4), the reference track of the base, a control error and the coupling force of the arm for the base are received by a base controller, and applied control force of the base is calculated.

Description

technical field [0001] The invention belongs to the technical field of underwater robot control, and in particular relates to an underwater robot control method considering multi-body coupling. Background technique [0002] The underwater robot is a multi-body mechanism, and there is a strong coupling between the rigid bodies, which seriously affects the control accuracy of the robot in the underwater environment. It is necessary to apply multi-body system dynamics to improve the traditional control method and improve the control precision of the control system. [0003] At present, for the case where the actuator of the manipulator is a servo motor, the servo motor on the manipulator can only be in the speed control mode, forming a speed loop by itself. In this case, multibody system dynamics cannot be directly applied to servo motors to exert force control on the motors. For today's underwater robots, such control capabilities cannot meet the requirements. Contents of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 刘继朝方群
Owner NORTHWESTERN POLYTECHNICAL UNIV
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