水下无人系统学报2024，Vol.32Issue(6)：1091-1099,9.DOI:10.11993/j.issn.2096-3920.2024-0009
水下蛇形机器人建模与运动控制
Modeling and Motion Control of Underwater Snake Robot
李佩娟 1杨刚 1郭铁铮 1鲁洋1
作者信息
- 1. 南京工程学院工程训练中心/应用技术学院,江苏 南京,211167
- 折叠
摘要
Abstract
To address the autonomous swimming difficulty of an underwater snake robot in a complex underwater environment,this study designed an underwater snake robot mechanism.A kinematic model was established based on the snake motion mechanism,and a motion control method based on fuzzy control and a central pattern generator(CPG)was proposed.The CPG model was constructed by several Hopf oscillators with double-coupled chain network structure after the stability analysis of the limit cycle in a single Hopf oscillator model,and a fuzzy controller and the CPG model were introduced to form a closed-loop control network.The simulation and experiment of an underwater snake robot were carried out.The prototype can complete the experiments of linear meandering movement,left and right turning movement,and U-shaped movement.The experimental results show that the underwater snake robot not only has good stability but also can maintain superior flexibility and maneuverability in the three motion modes.关键词
水下蛇形机器人/模糊控制器/中枢模式生成/运动控制Key words
underwater snake robot/fuzzy controller/central pattern generator/motion control分类
军事科技引用本文复制引用
李佩娟,杨刚,郭铁铮,鲁洋..水下蛇形机器人建模与运动控制[J].水下无人系统学报,2024,32(6):1091-1099,9.
