Object searching and grabbing control method of underwater bionic robot in turbulent flow environment

Abstract

The invention belongs to the field of underwater bionic robot control, particularly relates to an object searching and grabbing control method of an underwater bionic robot in a turbulent flow environment, and aims to solve the problem that an existing underwater bionic robot difficultly achieves object searching and autonomous grabbing in the turbulent flow environment. The method comprises the steps of extracting the position and contour of an obstacle; obtaining and detecting whether a visual image contains an object to be grabbed or not, if yes, solving an expected motion angle of each joint of a mechanical arm, calculating disturbing force of the mechanical arm in the grabbing process, and compensating the disturbing force to underwater bionic robot body control to obtain total control input force / torque; otherwise, obtaining an external turbulent flow estimated value, and further obtaining a control input force / torque at a t+1-t+N moment; and acquiring the control quantity of bionic webs at the two sides, and controlling the underwater bionic robot to realize object searching or grabbing control. According to the method, object searching and autonomous grabbing of the underwater bionic robot in the turbulent flow environment are achieved, and the control robustness is improved.

Description

technical field [0001] The invention belongs to the field of underwater bionic robot control, and in particular relates to an object search and grab control method, system and device for an underwater bionic robot in a disturbed flow environment. Background technique [0002] With the continuous deepening of human exploration of the marine environment and the increasing demand for development, underwater operation robots, as an important tool for ocean development, are widely used in underwater object salvage, archaeology, emergency rescue, seafood fishing, etc. Improving the autonomy and intelligence level of underwater operation robots, developing autonomous underwater operation robots and researching autonomous operation control methods to realize underwater autonomous operations have become the research vision of future underwater operation robots. [0003] In order to improve the autonomy and intelligence of the underwater bionic robot, the underwater bionic robot shoul...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the existing underwater bionic robots are difficult to realize object search and autonomous grasping in the turbulent environment, the first aspect of the present invention proposes an underwater robot in the turbulent environment. A method for object search and grasping control of a bionic robot, the method comprising:

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