Trajectory Planning Study Of Underwater Vehicle And Manipulator

With the development of science and technology, underwater vehicles have been wildly used in the sea bed exploitation. The trajectory planning of underwater vehicles and manipulator is important for the operation of underwater vehicle. This thesis is concerning with trajectory planning study based on underwater vehicles and manipulator. The following parts are included in this thesis:Firstly, the characteristic and the structure of the underwater manipulator and its work principle are discussed. The kinematics model is established by using the D-H method, and solved by using the counter transformation method. On the base of the kinematics model, the thesis introduces the characteristic of work space and an approach to solving the work space. Then, the work space of the manipulator is simulated.Secondly, the thesis analyses the Khatib artificial potential field model. The first step is to establish the artificial potential field model based on force analysis of manipulator operation platform. Then the path planning is designed based on this model. The simulation experiments are done with the MATLAB tools to verify the validity of this proposed model.Thirdly, several methods of the trajectory planning design and the spline arithmetic to approach the reference curve are introduced in this thesis, such as, planning in the joint space, planning in the Descartes curvilinear space. In this thesis, the method is verified by the simulation results.Finally, the classical method of trajectory planning is substituted for the Sequential Quadratic Programming (SQP) method. The simulation result verifies the validity of the optimization method based on the shortest spared time subjected to the physical constraints of the joint velocity and angular acceleration, and testifies that the performance of the SQP is better than that of the classical method.