水下机器人-机械手系统构建与研究

描述了一水下机器人——机械手系统研究平台的搭建,详细介绍了三功能水下电动机械手的设计与实验,给出了载体分系统的设计结果,利用Matlab工具箱和M函数构建了系统仿真模型,可以有效地对系统规划和控制算法进行验证(包括分别对载体分系统和机械手分系统的控制),可为进一步的现场试验提供指导和方法验证。

This paper describes the construct of an Underwater Vehicle-Manipulator System(UVMS),and introduces the design and experiment of the three-function manipulator,which is a subsystem of UVMS,also,the vehicle subsystem's body design result is presented.The system's simulation model is established by using Matlab simulink toolbox and M-function,which can validate the motion planning and control strategy(including vehicle subsystem and manipulator subsystem's control respectively) effectively and supply the detailed direction for locale experimentation.