基于水下作业系统阻抗力控制水下目标定位

提出了基于水下作业系统阻抗力控制的水下矩形围壁定位方法。水下作业系统末端执行器跟踪期望运动轨迹,通过与水下矩形围壁环境表面接触力反馈信息的变化获得与环境接触的特殊点,计算得到矩形围壁环境相对水下作业系统的位姿。以带有三自由度机械手的水下作业系统为例进行水下矩形围壁目标表面恒力跟踪的计算机仿真,仿真结果表明定位方法可以很好的获得矩形围壁环境的位姿,控制策略具有很好的表面跟踪和力控制能力。

Alocalization of the underwater rectangle surroundings based impedance force control for underwater work system(UWS)is presented.By tracking the reference trajectory the end-effectors of the underwater work system can follow the underwater rectangle surroundings surface.The position and orien-tation of the rectangle surroundings environments with respected to the UWS frame can be obtained by es-timating the specific contact point acquired by changing of the feedback force.Computer simulations on an UWS with...

国家“863”计划项目资助(2006AA09Z217)