华中科技大学学报（自然科学版）2017，Vol.45Issue(5)：77-83,7.DOI:10.13245/j.hust.170515
SY-Ⅱ水下机器人-机械手系统的协调运动控制
Studies on coordinate motion control based on SY-Ⅱunderwater vehicle manipulator system
摘要
Abstract
The motion of manipulator will cause a certain influence while underwater vehicle manipulator system (UVMS) hovering, to reduce the impacts, a model based coordinate motion control method was proposed based on the unique system structure like SY-Ⅱ UVMS.According to Newton-Eulerian recursive algorithm, the disturbances model which consisted of coupling impacts and restoring force (moment) generated by the motion of the manipulator were obtained, and then the global kinematic control loop with dynamic control law based on disturbances model was combined to compensate the disturbances that affected the vehicle′s attitude.Experiments carried on SY-Ⅱ UVMS show that compared with S surface control, the proposed control method basically keeps the station stable showing its superiority by estimating and compensating positon error in real time.关键词
水下机器人/机械手/协调控制/扰动补偿/悬停Key words
underwater vehicle/manipulator/coordinate control/disturbances compensation/hovering分类
信息技术与安全科学引用本文复制引用
李冀永,万磊,黄海,秦洪德..SY-Ⅱ水下机器人-机械手系统的协调运动控制[J].华中科技大学学报（自然科学版）,2017,45(5):77-83,7.基金项目
国家自然科学基金资助项目(51579053,61633009,51209050). （51579053,61633009,51209050）
