S face control method of flotation under water robot motion

A technology of robot motion and control method, applied in the direction of manipulators, manufacturing tools, etc., to achieve the effect of improving accuracy

Inactive Publication Date: 2006-01-11
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But these motion control methods are all aimed at the control of the flexible caudal fin of robotic fish.

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  • S face control method of flotation under water robot motion
  • S face control method of flotation under water robot motion
  • S face control method of flotation under water robot motion

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specific Embodiment approach

[0059] The S-plane control method for the motion of the floating underwater robot provided by the invention is applied to the WXX-I underwater robot developed by the Marine Comprehensive Technology Research Center of Harbin Engineering University. The robot is developed to explore the miniaturization and clustering of intelligent underwater robots. Its B / L is large, and the gyration is good, but the navigation stability is poor, and the precise motion control is difficult.

[0060] The process of control flow is: the short baseline system provides the current x and y values ​​in the geodetic coordinate system, the depth gauge provides the z value, and the magnetic compass provides the current attitude angle (heading angle, pitch angle, roll angle) information. The planning system (part of the software) determines the x, y, z, heading, pitch, and roll angles of the target pose. In this way, the control deviation of six degrees of freedom is obtained, and the deviation change l...

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Abstract

An S-surface control method for the movement of the pelagic underwater robot includes such steps as using short base line and depth meter to obtain position information, using compass to obtain attitude angle, using Doppler speedmeter to obtain speed, calculating by controller, executing movement via propeller, wings and helm, using 6-freedom position offset and variation rate as input for position control and location, using 6-freedom speed offset and variation rate as input for controlling speed, and using the indexing of PD control for non-linear control.

Description

technical field [0001] The invention relates to an S-plane control method for the motion of a floating underwater robot. Background technique [0002] The dynamic system of floating underwater robot is nonlinear and time-varying. The movements of each degree of freedom are coupled with each other, and environmental disturbances such as ocean currents have a greater impact. In short, the underwater robot is a strongly nonlinear system. Moreover, considering the time-varying nature of motion, the complexity and uncertainty of the environment, it is unrealistic to establish an accurate motion model for underwater robots. Therefore, the design of the underwater robot control system must consider the nonlinear problem and the complexity of the motion model. At the same time, from the perspective of strengthening the autonomy and adaptability of the robot and improving the working performance of the robot, the control system should also have good self-adaptation and self-learni...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00
Inventor 李晔万磊苏玉民庞永杰刘学敏
Owner HARBIN ENG UNIV
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