Underwater double-arm cooperating grabbing, holding and collision preventing integrated method and system

Abstract

The invention discloses an underwater double-arm cooperating grabbing, holding and collision preventing integrated method and system, and belongs to the field of underwater operation automatic control. Based on the original task trajectory planning of double-arm cooperative work, it is put forward that three areas different in collision probability are divided on the basis of the work space of double mechanical arms, trajectory planning is preferentially carried out on the area low in collision probability, when it is necessary to pass through the area high in collision probability, the trajectory is divided into multiple small-section paths through an interpolation method, and collision judgment and collision preventing planning are carried out before the motion of each small section is executed; the motion of the small-section paths is updated according to collision preventing planning, and therefore collision risks are subjected to preventive control on the premise of not interfering with normal execution of original tasks. According to the method and system, preventive motion collision prevention of the mechanical arms can be carried out while the operation trajectory is planned; and according to the integrated method, underwater mechanical arm collaborative operation and motion collision prevention are unified, and certain practical value and development potential are achieved.

Description

technical field [0001] The invention belongs to the field of automatic control of underwater operations, and relates to an underwater-oriented dual-arm cooperative grasping, grasping and collision avoidance integration method and system, and more specifically, to a dual-arm cooperative coordination system for underwater operations. An integrated method and system for grasping, cooperative grasping and collision avoidance. Background technique [0002] At present, marine technology has been highly valued and developed unprecedentedly by all major marine countries in the world. The depth of marine operations is getting deeper and deeper, and the operating environment is getting worse and worse. Underwater manipulator is a tool that can replace people to complete these dangerous tasks. With the increase of human ocean exploration activities and the maturity of automation technology, underwater manipulators are gradually put into the market to assist humans in ocean engineering...

AI Technical Summary

Problems solved by technology

[0008] However, the existing collision avoidance method is mainly based on sensor feedback, and its characteristic is that the working method is real-time detection, which leads to a high dependence on the accuracy and stability of the sensor for the control effect; However, due to the harsh deep-sea environment and insufficient light, there are great difficulties in the installation and imaging of visual sensing equipment, and it is not suitable for collision avoidance detection in underwater operations.

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