A control method for a six-propeller cooperative driving underwater robot

Abstract

The application provides a kind of six-propeller cooperative driving underwater robot control method, belongs to underwater robot motion control technical field.The method is based on the propulsion structure of rectangular configuration four-propeller and differential propeller, and the overall dynamics model of underwater robot is established in advance;The pose and motion state data obtained by the sensor are input into the controller, the desired attitude of the robot is calculated according to the given tracking trajectory, and the corresponding control quantity is further solved from the desired attitude;The control quantity is sent to the thrust distribution module, the mapping from control quantity to propeller driving signal is completed, the PWM pulse width command of each propeller is obtained and acts on the rectangular configuration four-propeller and differential propeller;Through real-time loop of the above steps, the cooperative control of robot trajectory tracking and attitude stability is realized.

Description

Technical Field

[0001] This invention belongs to the field of robot control technology, specifically relating to a control method for an underwater robot driven by six thrusters. Background Technology

[0002] With the development of integrated circuits and microelectromechanical systems (MEMS) technology, robot-related technologies are maturing. Compared to land and air robots, underwater robots are more difficult to control due to the influence of water currents, requiring more redundant control designs. Currently, most underwater robot mobility designs powered by brushless motors are limited to simple land or air robot migration. For example, using a rectangular configuration with four thrusters for underwater propulsion is inefficient and significantly reduces its resistance to disturbances.

[0003] A patent published in CN107428401A proposes a configuration using more than six thrusters to achieve six degrees of freedom and corresponding redundancy. The method involves dividing the six motors into two groups and distributing them triangularly along the six edges of a regular tetrahedral robot, thereby maximizing omnidirectional control immunity. However, this configuration complicates the design of the control law and places high demands on the robot's shape, limiting its applicability in various applications. Summary of the Invention

[0004] To address the problems in existing technologies and designs, this invention proposes a control method for an underwater robot driven by six thrusters. By establishing a hybrid coordinate dynamic model and based on intrinsic error feedback and a redundant thrust allocation strategy that prioritizes force control and then torque control, the robot achieves coordinated and stable tracking of its trajectory and attitude.

[0005] The technical solution adopted in this invention is as follows:

[0006] In a first aspect, the present invention proposes a control method for an underwater robot with six thrusters working in tandem, the underwater robot comprising four main thrusters arranged in a rectangular configuration and a pair of differential thrusters, comprising the following steps:

[0007] S1. Based on the structural layout of the underwater robot, establish a dynamic model of the underwater robot with a hybrid coordinate description to uniformly represent the translational and rotational dynamics of the robot;

[0008] S2. Real-time collection of robot status information by sensors as feedback quantities to characterize the robot's current configuration and configuration torque;

[0009] S3. Determine the desired configuration and desired configuration torque based on the pre-given desired trajectory, calculate the error between the current configuration and configuration torque and the desired value, and calculate the desired control quantity in combination with the dynamic model;

[0010] S4. Input the desired control quantity into the thrust distribution module, and map the desired control quantity into a thrust vector based on the actuator mapping matrix determined by the robot structure, in the order of satisfying force control first and then torque control.

[0011] S5. Convert the thrust vector into a driving signal and send it to each thruster to drive the underwater robot to complete attitude adjustment and trajectory tracking.

[0012] S6. Repeat S2 to S5 to form a real-time closed-loop control.

[0013] Furthermore, the robot's state information includes position, attitude rotation matrix, angular velocity, and linear velocity. The position and attitude rotation matrix together characterize the robot configuration, and the angular velocity and linear velocity together characterize the configuration torque.

[0014] Furthermore, the dynamic model expression for the underwater robot is as follows:

[0015] ;

[0016] ;

[0017] ;

[0018] Where I is the rotational inertia matrix, and m is the system mass. It is a third-order identity matrix. It's a Coriolis item. It is configurational torque; It is the time derivative of the configurational torque. These are external torque and external force. These are the transposes of the buoyancy components in the body coordinate system and the world coordinate system, respectively. These are the transposes of the gravity components in the body coordinate system and the world coordinate system, respectively. The superscript T indicates transpose, and W is the control variable. These are the control torque described in the body coordinate system and the control force described in the world coordinate system, respectively.

[0019] Furthermore, the expression for the control variable is:

[0020] ;

[0021] in, It is a positive definite control gain matrix, used to adjust the convergence performance of torque error and configuration error respectively; It is the torque error vector. It is the coordinate representation of configurational error in Lie algebra space. It is the time derivative of the desired configuration torque.

[0022] Furthermore, the torque error vector is defined by both angular velocity error and position error. The angular velocity error is the difference between the current angular velocity and the desired angular velocity after the coordinate transformation from the current attitude to the desired attitude, and the position error is the difference between the current position and the desired position.

[0023] Furthermore, in step (3), when determining the desired configuration, the desired attitude is adaptively planned, including:

[0024] The desired heading angle is determined based on the projection direction of the desired control force onto the horizontal plane. And construct the desired attitude matrix accordingly. This ensures that the robot's main propulsion direction is consistent with the projection direction of the desired control force on the horizontal plane.

[0025] Furthermore, the actuator mapping matrix in step (4) is a constant matrix, which includes a submatrix one that maps the desired control torque to the resultant torque in the body coordinate system, and a submatrix two that maps the desired control force to the resultant force in the world coordinate system.

[0026] Furthermore, the thrust distribution module's distribution steps include:

[0027] The desired control quantity is decomposed into desired control torque and desired control force;

[0028] Find a particular solution for the thrust of a thruster that satisfies only the force control requirements. ,in It is submatrix two. It refers to the ability to control one's expectations, superscript. It is a Moore-Penrose pseudo-inverse;

[0029] Introducing constraints Solve for the free variables that satisfy the torque control requirements. ,in Submatrix 1, e6 is a six-dimensional vector with only the last bit set to 1 and all other bits set to 0. The superscript T indicates transpose. It is the desired control torque. It is the null space vector basis of submatrix one;

[0030] The complete thrust vector is represented as Where t is the thrust vector, It is the null space vector basis of submatrix one. Let be the free variables to be solved;

[0031] thrust vector It is mapped to the motor PWM signal.

[0032] Secondly, this invention proposes a six-thruster cooperative underwater robot control system to implement the aforementioned six-thruster cooperative underwater robot control method.

[0033] Thirdly, the present invention provides a computer electronic device, including a memory and a processor;

[0034] The memory is used to store computer programs;

[0035] The processor is used to implement the above-described six-thruster cooperative underwater robot control method when executing the computer program.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] (1) This invention introduces configuration error and torque error to design control law, and achieves unified control of underwater robot attitude and position without relying on complex coordinate transformation and singular parameterization, thereby improving system stability and control accuracy.

[0038] (2) By combining the actual characteristics of the robot actuator's direction being restricted, the desired posture is constrained and planned so that the control target is matched with the achievable force space, thus avoiding the control performance degradation problem caused by "the target being unattainable" in the traditional method.

[0039] (3) By constructing a unified actuator thrust allocation method, the system can effectively utilize the actuator redundancy while satisfying the main control objectives, thereby improving the system's adaptability to actuator constraints and redundancy conditions and having good scalability.

[0040] (4) The method of the present invention does not rely on an accurate fluid dynamics model and can maintain good tracking performance in the presence of external disturbances and model uncertainties, making it suitable for practical engineering applications in complex underwater environments. Attached Figure Description

[0041] Figure 1 This is a control flowchart of the control method for an underwater robot driven by six thrusters.

[0042] Figure 2 This is a flowchart of the thrust distribution module's distribution steps;

[0043] Figure 3 This is an architecture diagram of an underwater robot control system driven by six thrusters.

[0044] Figure 4 This is a schematic diagram of a hexagonal underwater robot. Detailed Implementation

[0045] The present invention will be further described and illustrated below with reference to specific embodiments. The embodiments described are merely examples of the content of this disclosure and do not limit the scope of the invention. The technical features of each embodiment in the present invention can be combined accordingly, provided that there is no mutual conflict.

[0046] This invention proposes a control method for a six-thruster cooperative underwater robot. Based on the intrinsic error description of the robot's configuration, this method uniformly formulates the pose tracking problem as a feedback adjustment problem of configuration error and torque error, and designs control torque and thrust distribution strategies while considering the actuator's directional constraints. This method achieves coordinated control of attitude control and position tracking by constructing a control law consistent with the system's geometry, and effectively distributes control variables to thruster thrust by incorporating redundant degrees of freedom of the actuators. Since this control method does not rely on precise hydrodynamic model parameters, its model uncertainties and external disturbances are jointly suppressed by feedback control and compensation mechanisms. Therefore, it is applicable to multi-thruster underwater robot systems with identical propulsion structures. When the robot's mass distribution or geometric parameters change, stable operation and algorithm migration can be achieved without fine reconstruction of the control algorithm.

[0047] This invention proposes a control method for an underwater robot with six thrusters working together, such as... Figure 1 As shown, it includes the following steps:

[0048] S1, a priori establish the overall dynamic model of the underwater robot.

[0049] This invention employs a six-thrust underwater robot, comprising four main thrusters in a rectangular configuration and a pair of differential thrusters. Based on the structural layout and coupling relationship of the rectangular four-thruster configuration and the differential thrusters, a unified model is constructed for the translational dynamics of the underwater robot's center of mass and the rotational dynamics of the body. This clarifies the influence of each thruster's thrust on the robot's attitude and position, providing a model foundation for subsequent controller design and thrust allocation.

[0050] S2 uses the robot state information collected by the sensors in real time, including but not limited to the robot's position, attitude angle, angular velocity and linear velocity, to characterize the robot's current configuration and configuration torque in real time, and uses it as feedback to participate in control calculations.

[0051] S3. Calculate the desired configuration of the robot based on the pre-given desired tracking trajectory: First, determine the desired position and desired control force direction based on the trajectory planning results. Then, combine the constraints of the force space that the robot's thrusters can realize to calculate the corresponding desired posture and solve for the desired control quantities, including the desired control force and desired control torque.

[0052] S4. Input the obtained desired control quantity into the thrust distribution module. By configuring the throttle distribution matrix of the four thrusters and the throttle distribution matrix of the differential thrusters in a rectangular configuration, the desired control force and desired control torque in the desired control quantity are converted into a thrust vector.

[0053] S5, the thrust vector is further mapped to the PWM pulse width signal of each thruster, driving the underwater robot to perform the corresponding motion.

[0054] S6. During the robot's movement, the above steps S2 to S5 are repeated in real time with a fixed control cycle to continuously update the sensor feedback, control quantity calculation and thrust distribution process, thereby realizing stable attitude control and trajectory tracking of the underwater robot in complex environments.

[0055] Taking a hexagonal robot driven by six propellers as an example, this six-propeller underwater robot comprises two sets of thrusters with different functions. Four main thrusters are arranged in a rectangle on the robot platform, with their thrust directions along the Z-axis of the body coordinate system. A pair of differential thrusters are horizontally symmetrically mounted on the left and right sides of the robot, with their thrust directions along the X-axis of the body coordinate system. The four vertical main thrusters work together to generate the resultant force and torque for heave, roll, and pitch. The pair of horizontal differential thrusters work differentially or synchronously to generate control forces and torques for forward / backward movement and turning (yaw) in the horizontal plane. To achieve the robot's motion control, a dynamic model of the hexagonal robot needs to be established. For ease of modeling and control, the world coordinate system of the hexagonal robot is... Choose the initial position at the robot's center of mass; body coordinate system The position is bound to the center of mass of the hexagonal robot, and its orientation is as follows: Figure 3 As shown, it is also necessary to calibrate the robot's structural parameters, including the x-axis lever arm length of the rectangular thruster. y-axis lever arm length The lever arm length of the differential thruster The system includes four vertically offset thrusters arranged in a rectangular configuration, each generating an upward vertical thrust. The vertical offset height h of the differential thrusters is also considered. , , and In addition, a pair of differential thrusters are symmetrically arranged in the horizontal plane, generating horizontal forward thrust on the left and right sides respectively. and .

[0056] On the spacetime manifold, the robot configuration can be represented as follows: ,in Represents the attitude rotation matrix. Represents location information. In typical vector space isomorphism... Below, configurational torque is defined as ,in Let represent the angular velocity component and the linear velocity component, respectively. These velocity components are defined using left and right trivializations, respectively, thus yielding the kinematic relationships of the system. , The antisymmetric matrix representation of angular velocity. The time derivative of the attitude rotation matrix. This is the time derivative of the position. Similarly, while keeping the rotational dynamics described in the body coordinate system, and describing the translational dynamics in the world coordinate system, we can obtain the following overall dynamic model:

[0057]

[0058] Where I is the moment of inertia matrix, and m is the system mass. It is a third-order identity matrix. Used to characterize the standard Coriolis term in the system Angular velocity, superscript Represents the antisymmetric matrix mapping of vectors. As external forces and torques, they can be naturally decomposed into the sum of buoyancy and gravity terms, i.e. , These are the transposes of the buoyancy components in the body coordinate system and the world coordinate system, respectively. These are the transposes of the gravity components in the body coordinate system and the world coordinate system, respectively. The superscript T indicates matrix transpose, the subscript bu indicates the buoyancy component, and the subscript g indicates the gravity component; the symbols b and w represent the body coordinate system and the world coordinate system, respectively. To control the quantity, These are the control torque described in the body coordinate system and the control force described in the world coordinate system, respectively.

[0059] In this embodiment, in order to achieve stable tracking control in spatial pose, configuration error and torque error are constructed based on the relative relationship between the robot's current configuration and the desired configuration, as well as the relative relationship between the current angular velocity and position and the desired value. The configuration error includes two parts: attitude error and position error.

[0060] Based on this, the control input is designed as follows:

[0061]

[0062] in, These are positive definite control gain matrices, used to adjust the convergence performance of torque error and configuration error, respectively. Defined as the robot torque error vector. For angular velocity error, this embodiment selects as . , Given the current attitude rotation matrix and current angular velocity, Given the desired attitude rotation matrix and desired angular velocity; This represents the coordinate representation of the configuration error in Lie algebra space. For the attitude error in the configuration error, this embodiment selects it as... Superscript A vectorized mapping for antisymmetric matrices; The time derivative of the desired configuration velocity. Antisymmetric matrix representation of angular velocity, For the desired angular acceleration, For the desired linear acceleration, superscript This is a transpose.

[0063] In this embodiment, to address the limitation on force generation direction in underactuated underwater robots, a constraint design is implemented for the selection of the desired posture to improve the feasibility and execution efficiency of the robot's control objectives. Since this type of underwater robot can only generate effective control forces within a two-dimensional subspace spanned by the x-axis and z-axis of the body coordinate system, the robot's posture needs to be rationally planned during control to ensure that the desired control force falls within this feasible force space as much as possible. Therefore, the desired control force can be determined by... Then, the desired heading angle is set based on its projection direction on the horizontal plane. And construct the desired attitude matrix accordingly. Its expression is:

[0064]

[0065]

[0066] in, Let atan2 represent the components of the desired control force in the X, Y, and Z directions, and let atan2 denote the two-parameter arctangent function.

[0067] By employing the above method, the robot's longitudinal axis is always aligned with the projection direction of the desired control force onto the horizontal plane, thereby maximizing the contribution of the main propulsion direction to the target control force. This attitude setting strategy effectively improves the utilization efficiency of the thrusters without increasing control complexity, and makes the robot's dynamic response more predictable, thus improving overall trajectory tracking performance and control stability. This method is particularly suitable for underactuated underwater robot systems with significant propulsion direction limitations.

[0068] In this embodiment, for a six-thrust-driven underwater robot, a mapping relationship is established between the robot actuator thrust and the system control quantity, and thrust distribution is implemented accordingly. The robot actuator mapping relationship can be expressed as follows: .in, The actual actuator thrust vector is defined as follows: f represents the vertical upward thrust generated by each of the four vertical thrusters. , , and The resultant force, and their relationship is as follows: ; These represent the thrust generated by the left and right horizontal differential thrusters, respectively. This represents the combined three-axis control torque generated by four vertically arranged thrusters. The actuator mapping matrix B is uniquely determined by the robot's own geometry, and its specific form is:

[0069]

[0070] in, To map the desired control torque into a submatrix of the resultant torque in the body coordinate system, To map the desired control force into a submatrix of the resultant force in the world coordinate system, These represent the direction vectors of the x-axis and z-axis in the body coordinate system in the world coordinate system, respectively. This represents the torque effect introduced by the differential thruster, where h is the vertical offset height; is the lever arm length of the differential thruster; k is a constant representing the torque introduced by the rotation of the thruster.

[0071] During the control process, for the desired control quantity W calculated above, the thrust is distributed in the order of force first, then torque. The specific method is as follows: W is distributed according to... The relationship is broken down into expected torque. and expectation First, solve for the particular solution in the thrust vector that satisfies the force control requirements. Through Relationship acquisition This indicates the Moore-Penrose pseudo-inverse.

[0072] Based on this, the complete thrust vector is expressed as: ,in For matrix The null space vector basis, Let be a free variable to be determined, defined as:

[0073]

[0074] in, It is a feature vector block that describes the null space distribution.

[0075] Subsequently, the remaining degrees of freedom are used to satisfy the torque control requirements, and constraints are introduced. This is to avoid unnecessary redundant torque. The value is:

[0076]

[0077] in, It represents the desired control torque, and e6 is the unit selection vector of the sixth component of the matrix.

[0078] Subsequently, based on the relationship between the thrust vector and the motor PWM, a mapping between t and the PWM vector is established, the specific matrix of which depends on the experimental measurement results. This enables the overall control of the hexagonal robot.

[0079] This embodiment also provides a six-thruster cooperative underwater robot control system for implementing the above-described underwater robot control method, comprising:

[0080] The underwater robot dynamics model module is used to establish a hybrid coordinate description of the underwater robot dynamics model based on the underwater robot's structural layout, and to uniformly represent the robot's translational and rotational dynamics.

[0081] The sensor module is used to collect the robot's state information in real time as feedback, which is used to characterize the robot's current configuration and configuration torque.

[0082] The controller module is used to determine the desired configuration and desired configuration torque based on a pre-given desired trajectory, calculate the error between the current configuration and configuration torque and the desired value, and calculate the desired control quantity in combination with the dynamic model;

[0083] The thrust distribution module is used to input the desired control quantity into the thrust distribution module and map the desired control quantity into a thrust vector based on the actuator mapping matrix determined by the robot structure, in the order of satisfying force control first and then torque control.

[0084] The actuator drive module is used to convert the thrust vector into a drive signal and send it to each thruster to drive the underwater robot to complete attitude adjustment and trajectory tracking.

[0085] For the system embodiments, since they basically correspond to the method embodiments, relevant details can be found in the descriptions of the method embodiments; the implementation methods of the remaining modules will not be repeated here. The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the present invention according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0086] The system embodiments of the present invention can be applied to any device with data processing capabilities, such as a computer or other similar device. The system embodiments can be implemented in software, hardware, or a combination of both. Taking software implementation as an example, as a logical device, it is formed by the processor of any data processing device loading the corresponding computer program instructions from non-volatile memory into memory for execution.

[0087] It should be noted that the control method for a six-thruster cooperative underwater robot in the above embodiments can essentially be executed by a computer program. Therefore, similarly, based on the same inventive concept, another preferred embodiment of the present invention also provides a computer electronic device corresponding to the method provided in the above embodiments, which includes a memory and a processor;

[0088] The memory is used to store computer programs;

[0089] The processor is used to implement a control method for a six-thruster cooperative underwater robot in the above embodiments when executing the computer program.

[0090] When the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium.

[0091] It is understood that the storage medium can be an internal storage unit of any data processing device described in any of the foregoing embodiments, such as a hard disk or memory. The storage medium can also be an external storage device of any data processing device, such as a plug-in hard disk, smart media card (SMC), SD card, flash card, etc., equipped on the device. Furthermore, the storage medium can include both internal storage units of any data processing device and external storage devices. The storage medium is used to store the computer program and other programs and data required by the data processing device, and can also be used to temporarily store data that has been output or will be output.

[0092] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all technical solutions obtained through equivalent substitution or transformation fall within the protection scope of the present invention.

Claims

1. A control method for an underwater robot with six thrusters working together, the underwater robot comprising four main thrusters arranged in a rectangular configuration and a pair of differential thrusters, characterized in that, Includes the following steps: S1. Based on the structural layout of the underwater robot, establish a dynamic model of the underwater robot with a hybrid coordinate description to uniformly represent the translational and rotational dynamics of the robot; The dynamic model expression for the underwater robot is: ； ； ； in, It is the rotational inertia matrix. It's about system quality. It is a third-order identity matrix. It's a Coriolis item. It is configurational torque; It is the time derivative of the configurational torque. These are external torque and external force. These are the transposes of the buoyancy components in the body coordinate system and the world coordinate system, respectively. These are the transposes of the gravitational components in the body coordinate system and the world coordinate system, respectively. The superscript T indicates transpose. It's about controlling the quantity. These are the control torque described in the body coordinate system and the control force described in the world coordinate system, respectively. S2. Real-time collection of robot status information by sensors as feedback quantities to characterize the robot's current configuration and configuration torque; S3. Determine the desired configuration and desired configuration torque based on the pre-given desired trajectory, calculate the error between the current configuration and configuration torque and the desired value, and calculate the desired control quantity in combination with the dynamic model; S4. Input the desired control quantity into the thrust distribution module, and map the desired control quantity into a thrust vector based on the actuator mapping matrix determined by the robot structure, in the order of satisfying force control first and then torque control. S5. Convert the thrust vector into a driving signal and send it to each thruster to drive the underwater robot to complete attitude adjustment and trajectory tracking. S6. Repeat S2 to S5 to form a real-time closed-loop control.

2. The underwater robot control method with six thrusters working together as described in claim 1, characterized in that, The robot's state information includes position, attitude rotation matrix, angular velocity, and linear velocity. The position and attitude rotation matrix together characterize the robot's configuration, and the angular velocity and linear velocity together characterize the configuration torque.

3. The underwater robot control method with six thrusters working together as described in claim 1, characterized in that, The expression for the control variable is: ； in, It is a positive definite control gain matrix, used to adjust the convergence performance of torque error and configuration error respectively; It is the torque error vector. It is the coordinate representation of configurational error in Lie algebra space. It is the time derivative of the desired configuration torque.

4. The underwater robot control method with six thrusters working together as described in claim 3, characterized in that, The torque error vector is defined by both angular velocity error and position error. The angular velocity error is the difference between the current angular velocity and the desired angular velocity after the coordinate transformation from the current attitude to the desired attitude, and the position error is the difference between the current position and the desired position.

5. The underwater robot control method with six thrusters working together according to claim 1, characterized in that, When determining the desired configuration in step (3), the desired attitude is adaptively planned, including: The desired heading angle is determined based on the projection direction of the desired control force onto the horizontal plane. And construct the desired attitude matrix accordingly. This ensures that the robot's main propulsion direction is aligned with the projection direction of the desired control force onto the horizontal plane.

6. The underwater robot control method with six thrusters working together according to claim 1, characterized in that, The actuator mapping matrix in step (4) is a constant matrix, which includes a submatrix one that maps the desired control torque to the resultant torque in the body coordinate system, and a submatrix two that maps the desired control force to the resultant force in the world coordinate system.

7. The underwater robot control method with six thrusters working together as described in claim 6, characterized in that, The thrust distribution module's distribution steps include: The desired control quantity is decomposed into desired control torque and desired control force; Find a particular solution for the thrust of a thruster that satisfies only the force control requirements. ,in It is submatrix two. It refers to the ability to control one's expectations, superscript. It is a Moore-Penrose pseudo-inverse; Introducing constraints Solve for the free variables that satisfy the torque control requirements. ,in It is submatrix one. It is a six-dimensional vector where only the last bit is 1 and all the other bits are 0. The superscript T indicates transpose. It is the desired control torque. It is the null space vector basis of submatrix one; The complete thrust vector is represented as ,in It is the thrust vector. It is the null space vector basis of submatrix one. Let be the free variables to be solved; thrust vector It is mapped to the motor PWM signal.

8. A control system for an underwater robot with six thrusters working together, used to implement the control method for an underwater robot with six thrusters working together as described in claim 1, characterized in that, The system includes: The underwater robot dynamics model module is used to establish a hybrid coordinate description of the underwater robot dynamics model based on the underwater robot's structural layout, and to uniformly represent the robot's translational and rotational dynamics. The sensor module is used to collect the robot's state information in real time as feedback, which is used to characterize the robot's current configuration and configuration torque. The controller module is used to determine the desired configuration and desired configuration torque based on a pre-given desired trajectory, calculate the error between the current configuration and configuration torque and the desired value, and calculate the desired control quantity in combination with the dynamic model; The thrust distribution module is used to input the desired control quantity into the thrust distribution module and map the desired control quantity into a thrust vector based on the actuator mapping matrix determined by the robot structure, in the order of satisfying force control first and then torque control. The actuator drive module is used to convert the thrust vector into a drive signal and send it to each thruster to drive the underwater robot to complete attitude adjustment and trajectory tracking.

9. A computer electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the underwater robot control method with six thrusters working together as described in any one of claims 1 to 7 when executing the computer program.

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