Research On Architecture And Measurement-Control Technology Of Wave Compensation Robot

With the introduction of the policy of " build China into a maritime power ",all countries have intensified their scramble for marine military control,which increases human activities in the ocean.Wave compensation robot has important military and civil significance for goods stacking and ammunition replenishment.Aiming at the development needs of marine equipment,this paper designs a control system of ocean wave compensation robot.The system can effectively compensate the deviation of position and attitude of the robot's end effector,which can effectively improve the efficiency of operation and ensure the personal safety of operators.In this paper,the control system of 6-DOF series wave compensation robot is studied in depth,and the control system structure,software and hardware is designed.The main contents include: Firstly,the compensation principle of 6-DOF series robot is analyzed,and the overall scheme of 6-DOF active wave compensation robot is designed.The dynamics and kinematics of 6-DOF series robot operating in the swaying motion of a ship are studied.The coordinate transformation and equation of the end effector in three-dimensional space are solved,and the robot is modeled and simulated by Adams software to verify the rationality of the structure design.Then,according to the motion compensation principle of 6-DOF series robot,the effect of smoothing filter algorithm on compensation data is analyzed in detail,and the program of control system is completed,so that the serial robot has 6-DOF compensation function.Finally,the control system test experiment and data acquisition are completed in the laboratory,and the optimal solution of smoothing filter domain value is 85 through the analysis of the experimental results.According to the experimental curve,the original curve keeps synchronization with the predicted curve,and the predicted data automatically filters the remote points according to the changing trend of the original data,which makes the compensation data smoother and moves more smoothly.The optimized curve is 71% more smooth than the original curve,and maintains better tracking performance,real-time performance and stability,which verifies the feasibility of the research method.