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Trajectory tracking control method and device for underwater swimming mechanical arm with energy optimization

A trajectory tracking and energy optimization technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effects of simplifying design, ensuring accuracy, and ensuring practicability

Active Publication Date: 2022-01-21
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006]The present invention provides a track tracking control method and device for an underwater mobile manipulator with energy optimization. The blank of energy optimization in the control process of USM is eliminated. The present invention solves the problem of joint physical limit avoidance and energy optimization in the presence of external disturbances and uncertain model parameters. See the following description for details:

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  • Trajectory tracking control method and device for underwater swimming mechanical arm with energy optimization
  • Trajectory tracking control method and device for underwater swimming mechanical arm with energy optimization
  • Trajectory tracking control method and device for underwater swimming mechanical arm with energy optimization

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Embodiment 1

[0064] An embodiment of the present invention provides a trajectory tracking control method for underwater mobile manipulators with energy optimization, see figure 2 , the method includes the following steps:

[0065] 101: In the design of USM generalized coordinate-velocity-level redundancy solution problem, the goal is to minimize the restoration torque and end-point precise tracking, while considering joint constraints and actuator configuration singular point avoidance [1] , the control objective of the inverse kinematics controller is described as a multi-objective optimization problem, and the optimization problem is transformed into a quadratic programming problem with constraints;

[0066] Among them, the redundant solution solving problem is formulated as a constrained multi-objective optimization problem. On this basis, the USM generalized coordinate-velocity level redundant solution solution problem is considered, and the optimization problem is transformed into a...

Embodiment 2

[0074] The scheme in embodiment 1 is further introduced below in conjunction with specific calculation formulas and examples, see the following description for details:

[0075] The technical solution adopted in the embodiment of the present invention is an underwater mobile robot track tracking control method with energy optimization, and the specific steps are as follows:

[0076] 201: Establish kinematics and dynamics models of underwater swimming manipulators;

[0077] Wherein, this step 201 includes: defining the world inertial coordinate system and the robot body coordinate system, selecting the North East coordinate system (known to those skilled in the art) as the world coordinate system, defining the tail of the underwater swimming manipulator as the base, USM The complete state vector of position, pose and shape of is defined as Among them, n=10 represents the number of connecting rods, h=2 represents the number of vector thruster modules, Indicates the position ...

Embodiment 3

[0203] In order to verify the effectiveness of the control algorithm designed in the present invention, MATLAB is used as the simulation platform to carry out the simulation verification of USM trajectory tracking control, and two test cases are set to verify the effectiveness of the inverse kinematics controller design and the dynamics controller design respectively. sex. During the simulation, continuous trajectories between the end-effector setpoints were generated based on the filter with a step size set to 0.02 s. Among them, the initial pose and configuration of USM are set as:

[0204] ξ(0)=[0 0 0 0 0 0 0 45deg 0 -45deg 0 45deg 0 -45deg 0 45deg 45deg] to ensure the effective configuration of the actuator at the initial moment, the initial speed is set to ζ(0)=zeros(17,1 ).

[0205] Inverse kinematics controller parameter setting: k e = 2,c 1 =10,c 2 = 1, ε r =40,ε μ = 0.05, ε σ =0.05, α μ =0.05, α σ =0.05, ζ dr (0)=0 17×1 , k ζ =1,q min =-80 / 180π(rad),q m...

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Abstract

The invention discloses a trajectory tracking control method and device for an underwater swimming mechanical arm with energy optimization.The method comprises the following steps: joint constraint and executor configuration singular point avoidance are considered, a control target of an inverse kinematics controller is described as a multi-target optimization problem, and the multi-target optimization problem is converted into a constrained quadratic programming problem; a dynamic recurrent neural network is proposed to solve the quadratic programming problem, an inverse kinematics optimization controller is generated to serve as an outer ring controller, and the outer ring controller is used for generating a generalized coordinate expected trajectory; and aiming at a state constraint problem, a dynamic controller is designed in an inner ring based on a barrier Lyapunov function, a generalized coordinate expected trajectory is used as an input of the dynamic controller, a radial basis function neural network is used to estimate a total dynamic unknown item of the USM, and the dynamic unknown item is used as a disturbance compensation item to be added into the dynamic controller. The device comprises a processor and a memory. The problems of joint physical limit avoidance and energy optimization are solved.

Description

technical field [0001] The present invention relates to the field of tracking control of underwater mobile manipulators, in particular to a track tracking control method and device for underwater mobile manipulators with energy optimization, aiming at external disturbances and uncertain model parameters existing in the underwater mobile manipulator system problem, combined with the structural characteristics of the robot dynamic system itself. Background technique [0002] The Underwater Swimming Manipulator (USM) is an underwater vehicle with a structural design such as figure 1 shown. USM consists of underwater snake robots (Underwater Snake Robots, USRs) and propellers configured on connecting rods. The existence of the propeller endows the USM with strong maneuverability, combined with the multi-joint articulated structure, it can ensure that the USM has the same working ability as a mechanical arm. The USM's maneuverability and its slender body enable it to move in c...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1664B25J9/161B25J13/00
Inventor 马书根王鹏任超
Owner TIANJIN UNIV
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