Motion control method suitable for variable-structure underwater robot

Abstract

The invention relates to the technical field of motion control of underwater robots, in particular to a motion control method suitable for a variable-structure underwater robot, and realizes high-precision track control of the variable-structure underwater robot under a mechanical arm disturbance condition. Manipulator disturbance is analyzed from the angle of speed filtering, a speed filtering technology based on adjacent moment measurement correlation is adopted, observation models of manipulator disturbance and disturbance of a variable structure underwater robot are unified, the dependence of disturbance analysis on a dynamic model is reduced, and then according to speed feedback measurement and target track error weight, the disturbance of the variable structure underwater robot is calculated, then feedback measurement and target track error weight are carried out according to the speed, the navigation capability constraint of the variable structure underwater robot is considered, the target course, the target speed and other track control quantities of the variable structure underwater robot are calculated in real time, and high-precision track control of the variable structure underwater robot under the manipulator disturbance condition is achieved.

Description

technical field [0001] The invention relates to the technical field of motion control of underwater robots, in particular to a motion control method of a variable-structure underwater robot, which realizes high-precision track control of the variable-structure underwater robot under the disturbance condition of a mechanical arm. Background technique [0002] In the fields of marine engineering, offshore oil industry, and marine archaeology, underwater robots are widely used. Underwater robots mainly include remote-controlled underwater robots and autonomous underwater robots. Remote-controlled underwater robots rely on umbilical cables as power supply links and communication control links. At the same time, remote-controlled underwater robots are equipped with manipulators as underwater operating tools to undertake underwater fixed targets For underwater tasks such as grasping, marine equipment maintenance, and oil pipeline inspection, the advantage of remote-controlled unde...

AI Technical Summary

Problems solved by technology

The traditional manipulator disturbance analysis method is to estimate the movement disturbance of the manipulator to the variable structure underwater robot from the perspective of the manipulator sensor data or the manipulator dynamic model. Application scope and robustness of underwater robot control method

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