| The ocean occupies 71% of the earth’s area and is rich in minerals,biology,and energy.It is one of the territories available for human development.In 2021,the area of mariculture in China was 2.02551 million hectares,and the output of mariculture products reached 22.1114 million tons.At present,mariculture in China still faces many serious problems,such as sea cucumber and abalone,which require divers to carry oxygen masks to dive into the seabed from sowing to fishing.Long-term underwater operations are labor-intensive,inefficient,and even endanger the lives of divers.Using underwater fishing manipulator to catch sea cucumbers can reduce labor intensity and improve work efficiency.However,currently,underwater fishing manipulator have low accuracy and poor performance stability.Therefore,this paper designs an underwater fishing manipulator,analyzes the kinematics and dynamics of the manipulator,and obtains its control model.Then,a fuzzy super-twisting sliding mode control method is proposed,which improves the accuracy and stability of underwater fishing manipulator control,The specific research content is as follows:Firstly,analyze the kinematics modeling of the manipulator,determine the coordinate system of each joint of the manipulator through the D-H method,derive the homogeneous transformation matrix,and further derive the forward kinematics equation;According to the actual working environment and the structure of the manipulator,the inverse kinematics equations are obtained by solving the inverse kinematics using geometric methods.Using Monte Carlo method to analyze the workspace of the manipulator,using MATLAB software to draw the workspace of the manipulator.Finally,the robot is simulated to grasp and return the catch to the designated position.The position coordinates are solved using inverse kinematics,and the results are planned using cubic and quintic polynomial interpolation.Then,the dynamic model of the manipulator is analyzed,and the mechanical model of the manipulator is solved using the Lagrange method to establish the mechanical equation of the traditional manipulator.Due to the underwater work of the manipulator,it will be affected by the underwater environment.Morison equation is used to analyze the water resistance and buoyancy of the underwater manipulator,and obtain the hydrodynamic equation of the manipulator.Combining the traditional mechanical manual mechanics equation with the hydrodynamic equation,the underwater mechanical manual mechanics equation is obtained.Secondly,using the previously obtained mechanical equations of underwater manipulators as the control model of the robot motion control system,a motion control algorithm based on fuzzy super-twisting sliding mode is proposed.This algorithm can provide a sliding mode control method with fuzzy control system for underwater manipulator control systems,thereby overcoming the difficulty of robot trajectory tracking.Fuzzy systems can get rid of the dependence on specific model information,improve control accuracy and anti-interference ability by approaching the system model and external interference,and have better accuracy and adapt to the control performance of underwater manipulator systems.In the analysis of system stability,the stability of the underwater manipulator control system is proved through Lyapunov stability theory.Combined with MATLAB and SIMULINK software,the control effect of underwater manipulator is analyzed,and the correctness of the proposed control method is verified,providing a more accurate and effective control mode for underwater manipulator.Finally,according to the working situation of underwater fishing manipulator,the overall design of underwater manipulator is carried out.The degree of freedom of the robot,the material of the mechanical components,the driving method,and the model of the motor are selected.The composition of the fishing manipulator control system,the underwater control chip,and the hardware of the control system are analyzed.A software control system is designed. |
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