装有机械臂的自主水下航行器动力学分析与分辨加速度控制

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI:10.1109/UT.2004.1405575

M. Ishitsuka, S. Sagara, K. Ishii

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引用次数: 20

摘要

本文研究了一种装有机械臂的自主水下航行器(AUV)的动力学分析与控制。首先，介绍了一种安装在“Twin-Burger”上的两连杆水下机械臂的运动学和动力学，以及一种分解加速度控制(RAC)方法。其次，由于机械臂与水下机器人之间需要进行协调动作，提出了考虑机器人动态可操作性的路由算法。采用RAC方法和路由算法进行计算机仿真，结果表明该方法具有良好的控制性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Dynamics analysis and resolved acceleration control of an autonomous underwater vehicle equipped with a manipulator

This paper is concerned with dynamics analysis and control of a Autonomous Underwater Vehicle (AUV) equipped with a manipulator. First, kinematics and dynamics of a 2-link underwater manipulator mounted on "Twin-Burger", and a Resolved Acceleration Control (RAC) method are described. Next, since the coordinate action between manipulator and AUV is required, the routing algorithm considering the dynamic manipulability of the robot is proposed. Computer simulation using the RAC method and the routing algorithm shows the good control performance.

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Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)

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