Research Of Underwater Manipulator Control And Hands Coordination Operation Technology

With the reducing of non-renewable resources on the land,people pay more attention to the development of marine resources.The development of marine resources requires advanced equipment and technology,underwater robot is the only equipment that can be able to reach the abyssal seaat present.It needs underwater robot that has different function to explore and develop ocean resources.The coordinate operation technology of underwater robot double-manipulator is one of the main contents of the research of underwater robot field,it has research significance and practical value to study coordinate operation technology and motion control of underwater double-manipulator.The paper research the technology of double-manipulator that carried on unmanned and no cable autonomous underwater robot,the paper mainly studies the following content:(1)Analysis on the research status of underwater double-manipulator operation system and the coordinate operation technology atinternal and abroad.Summary the problems that need to study and solve of the underwater double-manipulator operation system,According to the requirements of the project that leads to the research contents:the structure anddrive mode of underwater double-manipulator system,kinematics and dynamics model,the plan of coordinate operation of double-manipulator and control technology.(2)For the underwater hands coordination work can achieve the function of shearing line,this paper analyzes and proofs the underwater hands operating system over all scheme and hydraulic drive scheme of underwater manipulator joints.For the problems which the manipulator arm is longer,weight is lighter and it is vulnerable to current interference,this paper develops the Hydraulic driving joints with the brake.From the perspective of modular design,this paper designs the various arms and joints.for the problem of manipulator joint Angle detection in the underwater working environment,this paper completes sensor selection and research the precision linear resistance testing joint Angle by the sealing way.This paper completes the double underwater manipulator with material selection and intensity.For simulating underwater double-manipulators carrying carrier-autonomous underwater robot,this paper develops two degrees of freedom underwater dual manipulator installation platform.(3)In this paper,for the concrete structure and drive mode of the underwater double-manipulator operation system,studying the kinematics of the underwater double-manipulator operation system.For the super fluousdegree of freedom of the double-manipulatorsystem,the kinematics model is established byusing the D-H method,and solved by usingthe counter transformation method.In order to achieve the function of cut cable,it need the massage of the rotational angle and the rotational velocity of the Each joint manipulator,so the jacobian matrix of the double-manipulator has been given in this paper.(4)The problem of coordination of underwater mechanical hands job planning.Firstly top mission planning;Combining the underwater mechanical hands' characteristics in this paper that the joints of the hands have brakes,we analysis the strategy of catting cable operation,and the catting cable operationplanning process of double-manipulator.Conduct PD controller design and parameter testing for joint movement,in order to obtain better control,fuzzy PD controller is designed;aiming at the sharp jump of angle sensor feedback signal,we design the Fir filter for the feedback signal,and do experiment to verify.in order to verify the braking effect of the joint brakes,mechanical hand brake joint experiments have been done.(5)For the underwater double-manipulator system in this paper,we build the control system,complete the hardware design and software writing and do experimental research.In order to improve the response performance of closed hydraulic transmission joint,we do the experiment about the control response influencing factor of closed hydraulic drive joint.To verify the influence of water environment on control performance,we conduct a single joint motion control experiment on both land and water.And we conduct a comparative experiment about the control effect on PD controller and fuzzy PD controller.In order to verify the motion performance of themanipulator,the manipulator trajectory tracking experiment is carried out in the pool.In order to verify the performance of double hands operation,deputy shearing experimentis carried out.