A master-slave underwater manipulator delay control method

Abstract

The invention relates to the technical field of robots, and provides a master-slave underwater robotic arm delay control method which can achieve coordinated control on the master arm and the salve arm of a master-slave underwater robotic arm in a bad operating environment and under the condition of transmission communication delay. The method comprises the following steps: giving the structure parameters of an underwater robotic arm, and making a delay analysis of the master and slave robotic arms according to a kinematics model of the underwater robotic arm; collecting hydrodynamic factors, and verifying whether the performance of the robotic arm meets the demand of the model according to the kinematics model of the underwater robotic arm; and delaying an action signal of the master arm, caching joint control signals at first n moments in an underwater controller, and calculating the ideal motion position of the joint of the slave arm at a moment n+1 based on a multi-power curve fitting method. The problem that an underwater robotic arm works intermittently due to a bad operating environment and transmission communication delay is solved.

Description

technical field [0001] The invention relates to the field of robot technology, and provides a master-slave underwater manipulator that can ensure the coordinated control of the master and slave hands of the underwater manipulator under the conditions of harsh working environment and delay in transmission and communication. Time-delay control method of underwater manipulator. Background technique [0002] Due to the complex underwater environment, there are environmental conditions that are not conducive to human work such as seawater pressure, low visibility, and temperature drop. The master-slave underwater multifunctional manipulator can be used to cooperate with the operating underwater robot to replace humans in dangerous environments such as deep sea. The robotic arm can be used for seabed exploration and mining, underwater pipeline maintenance, oil pipeline laying and other work. The underwater robotic arm not only reduces the risk of human underwater operations, but ...

AI Technical Summary

Problems solved by technology

[0006] However, in the actual control of underwater operations, when the underwater manipulator is operating in the deep sea, the transmission distance of the main hand control signal of the manipulator is long, and the traditional 485 bus communication transmission speed is slow, so the transmission delay time is long, which causes the slave hand to receive The control signal lags behind the operation on the water surface, and the submersible arm of the underwater manipulator has some adverse phenomena such as lag and intermittent movement during work, which affects the judgment of the surface operator on the position of the subhand, thus making the operation more difficult for the operator, which in turn affects the completion of the water. The efficiency of the next task

Images