Sw-the Ru Manipulator Work Space And Institutional Error Compensation

As Underwater Robots is the kernel of ocean exploitation techniques, underwater manipulator is prerequisite for Underwater Robots to possess work ability. In this paper, we take the workspace and error compensation for the position and orientation of the end-effector of Underwater Manipulator SW-RU as our research objective, and have researched on the contents as follows: modeling, workspace, the inverse kinematics, error modeling and compensation.1 , After simplified the framework of the Underwater Manipulator SW-RU, we built reference frame for each joint axes, and subsequently built the kinematics of the manipulator based on Denavit-Hartenberg(D-H) convention;2, Improved "probing mountain climbing" algorithm according to the character of the inverse kinematics of the manipulator, and wrote a program successfully solved the inverse kinematics of the manipulator;3 , After analyzed the substance and peculiarity of the numerical method, we put forward a new method for the solution of manipulator workspace. Then we utilized this method to resolve the workspace of Manipulator SW-RU, and from the result we can conclude that the method is favorable for manipulator workspace solution;4, The interference between the manipulator joint axes is analyzed,and the condition in which the interference appeared is presented;5 , The error equation of the manipulator end-effector's position and orientation was built by using perturbing modeling integrated 5-variable-MDH convention, on the base, the error compensation model was constituted by distributing the error to each joint. Lastly, after simulation and experiments a effective method for error control was gained.The achievements in this paper have important theoretic value and realistic significance, and they settle base for further research on Underwater Manipulator SW-RU, and put forward new methods for manipulator research.