Research On Grasping Force Servocontrol Of Underwater Operation Manipulator

The paper researches the underwater manipulator to crawl the dynamic feedback control which bases on force sensing capability, configure servo system driven. In connection with domestic and foreign underwater manipulator lacking of situational awareness, particularly in power-aware, without crawl force servo control; On the basis of depth analysis of the capture operation and servo power for the given optimization. This paper based on ontology developed on "863 underwater Intelligent Robot Gripper", according to its structural features and system features, in favor of simplified engineering model and reflects the scientific essential of the premise, giving manipulator the kinematic analysis,establishing mathematical models of hydraulic drive, and calculated using Matlab and verify the design and analysis related. Using PID and sliding mode control theory, author adopt specifically designed for robot servo force control strategy. Experiments show that the control accuracy in control within the permit, the error is reasonable, so that robot operations will be more efficient and accurate, which can be competent for detailed operations. This article contributes directly to underwater manipulator grasping force servo control and clear the major technical obstacles.The paper is divided into six chapters:The first chapter introduces the significance of thesis research and research objectives, as well as domestic and foreign research status of the mechanical hand, analysis of the inadequacies of the present study, this paper describes the organizational framework and contents.The second part elaborates underwater manipulator system construction. In the analysis of underwater operating environment and operational mission requirements, considering land, space, dexterous hand drive form and the mechanical composition theory and previous research, and based on fully understand the design goals proposed by 863 plan,author proposed mechanical design, and engineering-driven means of implementation, the control system structures, and successfully developed a system prototype for the force servo control,set up experimental and theoretical research platform.Chapter three take manipulator to kinematic analysis. This is from the theory point of view, the establishment of Practice for the mathematical model, adopt the D-H method, establish a dexterous hand overall kinematics equations for solutions. On the analysis of the structure which has been established, author calculate the dexterous hands of working space and the Jacobian matrix; and use the Matlab simulation, to determin the scope of its capture operation.Chapter four analyzes the operating hand capture gesture and servo power for a given optimization. Crawl mode in the study have been based on the analysis of mechanical structures, based on the most optimal dextrous hand crawl mode, and in-depth study of the force closure grasp method described computer-aided prediction of five principles and steps of closed crawl and gives the unit to grab the ball for the calculation example.Chapter five designed PID and sliding mode servo control strategy for operating hand grasping force. Combining practical and theoretical significance of engineering for operating hand-drive system, author derived servo control model of the underwater manipulator, and examine in detail the grasping force PID and sliding mode control, what can provide technical support and theoretical orientation for servo control of underwater operation.The last one is on the basis of the paper, which summarizes the research on the thesis and future development.