基于模糊推理水下作业系统运动控制研究

水下作业系统是运动学冗余系统,本文将模糊推理方法融入基于任务优先运动学控制算法,对系统载体与机械手进行协调运动分配,同时对系统多个任务进行优化。通过带有3自由度水下机械手的水下作业系统进行算例仿真研究,说明运动控制算法的有效性。

The underwater work system (UWS) is a redundant system. This paper use the task-priority redundancy method merged with a fuzzy logic based weighting scheme to solve vehicle-manipulator coordination. This algorithm is in charge of distributing motion between vehicle and manipulator while taking into account the big amount of constraints of UWS. The method was applied to UWS mounded with a three-degree-of-freedom underwater-manipulator. The computer simulation results demonstrate the resolution s effectivenes...

基金申请人:张奇峰;项目名称:自治水下机器人-机械手系统协调控制关键技术研究;基金颁发部门:国家863计划(2006AA09Z217)