Underwater unmanned ship-double mechanical arm cooperative control method based on task grading time sequence optimization

Abstract

The invention discloses an underwater operation-oriented underwater unmanned ship-double mechanical arm cooperative motion planning method and an application thereof. According to the invention, underwater double-mechanical-arm control is combined with a planning method based on task grading time sequence optimization, actions needing to be executed by the underwater robot are subdivided into a plurality of tasks, and the execution sequence is reasonably optimized and divided so that dynamic disturbance caused by mechanical arm movement to the underwater unmanned ship is reduced, and the underwater unmanned ship can run more stably. According to the control method, tasks of keeping a hovering height of the unmanned ship and avoiding obstacles are set to be high in priority, and the safetyof equipment is guaranteed as much as possible. A problem that an underwater unmanned ship-double arm manipulator is difficult to control is solved, purposes that the underwater double-arm manipulatoroperates autonomously and safely and an overall operation platform composed of the underwater unmanned ship-double arm manipulator operates stably in pose are achieved, and safe and stable platform technical support is created for improving a underwater operation capacity.

Description

technical field [0001] The invention belongs to the field of mechanical arm motion planning, and more particularly relates to an underwater robot-double mechanical arm cooperative control method based on task classification and timing optimization. Background technique [0002] With the increasing emphasis on ocean development, various new ocean exploration technologies have emerged. Among them, underwater manipulators are increasingly used in underwater operations such as deep-sea scientific investigation, seabed sediment sampling, and underwater maintenance. Manned submersibles (MSVs) and remotely operated vehicles (ROVs) are often equipped with underwater manipulators, which are operated directly by people inside the submersible or remotely via cables. With the development of underwater technologies such as underwater scientific research, underwater maintenance, and submarine exploration cables, the importance of dual robotic arms for underwater robots is also gradually i...

AI Technical Summary

Problems solved by technology

[0003] However, the problem of poor stability of the underwater unmanned vehicle-manipulator system has always existed

Due to the extremely complex deep-sea environment, if the unmanned vehicle cannot maintain a relatively stable position and posture, it will easily cause disorder in the robot coordinate system, resulting in the inability of the underwater working robot to complete the specified tasks, and even collide with environmental obstacles, resulting in large economic losses.

When the underwater robot is in a suspended state, its position and attitude are easily disturbed by the movement of the robotic arm it carries. If it is desired to maintain a relatively stable posture of the underwater robot, complex dynamic compensation is necessary, which increases the difficulty of control and cost control

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