Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Trajectory tracking control method, device and system for variable-parameter open-frame marine underwater robot

An underwater robot, trajectory tracking technology, applied in the direction of control/regulation system, non-electric variable control, height or depth control, etc., to achieve the effect of improving response speed and improving accuracy

Active Publication Date: 2022-04-19
深圳力合精密装备科技有限公司
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the trajectory tracking control of marine underwater robots is mainly concentrated on conventional underwater robots (mainly AUV), and there are few studies on the trajectory tracking control of open-frame marine underwater robots, especially the variable-parameter open-frame marine underwater robots. Trajectory tracking control problem, there is no related technology

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Trajectory tracking control method, device and system for variable-parameter open-frame marine underwater robot
  • Trajectory tracking control method, device and system for variable-parameter open-frame marine underwater robot
  • Trajectory tracking control method, device and system for variable-parameter open-frame marine underwater robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0028] SUMMARY OF THE INVENTION The specific implementation of a variable parameter open-frame marine robot trajectory tracking control method is as follows:

[0029] like figure 1 As shown, a local coordinate system H-XYZ is established on the motion platform 1 to represent the parameters of the variable-parameter open-frame marine underwater robot and to parameterize the center of gravity of the robotic arm 2. The origin H is located at the center of gravity of the upper surface of the marine robot, and the X axis Along the direction of the ocean robot, the Y axis is perpendicular to the X axis and points to the right side of the robot, and the Z axis is perpendicular to the XY plane and points to the bottom of the robot. When establishing the local coordinate system of the variable-parameter open-frame marine underwater robot motion platform, a geodetic coordinate system with the earth as the reference object is also established. The geodetic coordinate system takes the E l...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

This application relates to a "trajectory tracking control method, device and system for a variable-parameter open-frame marine underwater robot". Embodiments of the present invention relate to a path tracking control of a variable-parameter open-frame marine underwater robot. The variable-parameter open-frame marine underwater robot has 4 degrees of freedom and carries a mechanical arm. Changes in attitude lead to changes in the parameters of the open-frame marine robot. The present invention calculates the position of the center of gravity in real time through the formula of the center of gravity, and establishes the coordinates of the center of gravity of the variable-parameter open-frame marine robot at the center of gravity. On this basis, the variable-parameter open-frame marine robot is established. The dynamic model of the marine robot, and the trajectory tracking control of the variable-parameter open-frame marine underwater robot is carried out by using the acceleration compensation control method, so as to realize the high-precision motion control of the variable-parameter open-frame marine underwater robot. The dynamic modeling and motion control provided by the embodiments of the present invention are generally applicable to variable-parameter open-frame marine underwater robots.

Description

technical field [0001] The invention relates to a dynamic modeling and trajectory tracking control scheme of a variable-parameter open-frame marine underwater robot, in particular to a trajectory tracking control scheme of acceleration speed compensation. [0002] technical background [0003] The exploration and development of the ocean is of great strategic significance, and marine underwater robots have emerged as the times require and play an important role in the marine field. With the continuous development of marine underwater robots, their application fields are also expanding, and unprecedented breakthroughs have been made in the research and development of the marine world, the exploration of unknown areas, scientific practice investigations, and underwater engineering implementation. In terms of civilian use, marine underwater robots are mainly used to monitor marine environmental data and explore seabed resources. In terms of military affairs, marine underwater r...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 陶彦博刘厚德王松涛
Owner 深圳力合精密装备科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com