自治水下机器人机械手系统协调运动研究

简单描述了自治水下机器人搭载的三功能水下电动机械手的设计,鉴于自治水下机器人-机械手系统运动学冗余、内部可能干涉以及载体圆筒式外形等特点,将惩罚调节因子引入系统运动学伪逆矩阵,保证了关节在允许范围内运动,避免载体大幅度姿态变化及载体与机械手之间的干涉,同时采用梯度投影法优化海流作用下的系统推力。仿真表明,该算法在解决系统冗余度的同时,有效地协调多任务下的系统动作。     

水下机械手接近觉系统研究

根据水下机械手的工作需要,设计了一套高精度的水下超声波定位系统.采用超声波检测距离、三探头阵列检测方位的方案,使用超低功耗单片机MSP430精确计算超声波往返时间和控制三探头轮流工作,通过对三个探头的测量数据进行处理,实现目标测距及定位.经过实验室及水池实验表明,该系统在水下工作稳定,精度及灵敏度高,是水下机器人及机械手自主探测目标的有效手段之一.     

水下机器人作业机械手的研究与发展

水下作业机械手是水下机器人核心组成部分，研究第二、第三代水下机械手技术是水下机器人的重要课题，本文仅就水下作业机械手当前的发展状态，设计原则及智能化技术的研究，提出有关看法，仅供研究水下机械手课题展开讨论。     

水下机器人-机械手系统构建与研究

描述了一水下机器人——机械手系统研究平台的搭建,详细介绍了三功能水下电动机械手的设计与实验,给出了载体分系统的设计结果,利用Matlab工具箱和M函数构建了系统仿真模型,可以有效地对系统规划和控制算法进行验证(包括分别对载体分系统和机械手分系统的控制),可为进一步的现场试验提供指导和方法验证。     

国外水下作业机械手的特点及发展趋势

国外水下作业机械手(以下简称机械手)的研究始于50年代。70年代以来,国外许多公司如美国的Schilling公司,Western Space and Marine有限公司以及英国的Slingsby有限公司等,相继研制成功了多种先进的机械手及系列产品,并已投入批量生产,使机械手的研究和生产达到了较高的水平。我国水下作业机械手的研制工作始于70年代,与国外相比还存在着一段差距。本文从水下机械手的结构、液压驱动及控制     

深海ARV在海洋资源调查中的应用及展望

深海自主/遥控式水下机器人（ARV）作为新兴的复合型水下机器人,融合了自主式水下机器人的灵活性和遥控式水下机器人的人机交互性等优势,开启了自主与遥控混合作业的新模式。深海ARV可切换为AUV自主航行模式,独立采集周边区域近海底地形地貌、地质结构以及环境参数等数据,也能下潜至目标区域后切换为ROV遥控模式进行局部观察和采样操作,其探测作业一体化技术代表了具备复杂使命执行力的第三代深海水下机器人的发展方向。通过分析国内外深海混合型水下机器人的发展现状,结合ARV在中国深海矿产资源调查中的主要应用案例和取得的成果,以6 000米级“问海一号”ARV系统的研发为例,给出其关键技术集成以及面对的技术挑战,并对未来深海ARV的应用场景、功能集成和发展方向提出了一些设想和建议。     

水下机械手结构设计的几个问题

本文从机械手在可潜器上的配置,多功能机械手运动参数的设计、关节作动器类型的选择、应急解脱机构的设计、机械手在可潜器上的收藏等几个方面,论述了水下机械手的结构设计问题,可为水下机械手的总体设计提供参考。     

遥控水下机器人（ROV）结构综述——以hysub130—4000ROV系统为例

本文以HYSUB130—4000ROV系统为例介绍了遥控水下机器人的系统结构原理和功能，具体包括甲板控制台、甲板供电单元、提升系统、脐带缆、ROV本体、机械手及工具等各部分结构特点。     

控制多关节机械手运动的一种算法

为适应种种高难度水下作业的要求,水下机械手需要多自由度,多关节结构,本文介绍一种以反馈控制为基础建立的,控制多关节机械手运动的算法。建立算法是设计控制系统的基础。     

一种智能水下机器人进行大范围海洋环境监测的方案与实验

采用智能水下机器人进行海洋环境的立体监测具有监测范围广，自主性强的特点。本文在探讨世界各国采用智能水下机器人进行海洋环境监测的情况的基础上，介绍了自主研发的智能水下机器人海洋大范围环境数据的自主采集系统，其主要优点是：相对于其他机器人，可实现“大范围” 海洋环境数据的采集；相对于固定式浮标，可实现海洋环境数据的“自主”采集。并给出了自主采集流程和软件分层递阶体系结构。在真实海域中，采用智能水下机器人，进行了国内首次大范围环境数据采集实航实验。实验结果表明采用智能水下机器人进行海洋环境的立体监测是切实可行的。     

Development of a deep ocean electric autonomous manipulator

This paper describes an underwater 3500 m electric manipulator (named Huahai-4E,stands for four functions deep ocean electric manipulator in China),which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology (HUST) for a test bed of studying of deep ocean manipulation technologies.The manipulator features modular integration joints,and layered architecture control system.The oil-filled,pressure-compensated joint is compactly designed and integrated of a permanent magnet (PM) brushless motor,a drive circuit,a harmonic gear and an angular feedback potentiometer.The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo control,task plan and target sensor respectively.They communicate through User Datagram Protocol (UDP) multicast communication in Vxworks OS.A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system.Furthermore,the manipulator is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera.Autonomous grasp strategy based multi-sensor is studied.The results of watertight test in 40 MPa,joint’s efficiency test and autonomous grasp experiments in tank are also presented.     

潜水器控制系统层次故障诊断模型设计

在潜水器控制系统的基础上,按照结构、功能和组件的关系,为潜水器控制系统进行故障诊断建模。依据基于模型的层次故障诊断技术,建立了适用于潜水器控制系统故障诊断的具体诊断和推理策略,开发了故障诊断软件系统,描述了故障诊断具体过程,并利用数字仿真验证系统设计的有效性。     

自主水下航行器的软变结构控制

研究自主水下航行器系统的软变结构控制策略问题。首先分析软变结构控制系统的结构特征,利用双曲正切函数,给出控制受限情形的软变结构控制策略。其次利用Lyapunov稳定性理论,讨论自主水下航行器软变结构控制系统的稳定性,然后构造了基于双曲正切函数的软变结构控制器,给出自主水下航行器软变结构控制的具体算法。基于双曲正切函数的自主水下航行器软变结构控制系统调节精度高,响应速度快,有效地削弱了系统抖振。最后通过一个仿真实验,比较了自主水下航行器垂直深度通道的4种控制策略对系统性能的影响,从而验证了研究方法的有效性。     

Workspace control system of underwater tele-operated manipulators on an ROV

This paper presents a control technique for structured undersea tasks that require a high degree of precision. The overall efficiency of tele-operated underwater manipulation is improved by reducing the burden on the human operator. A new workspace-control system composed of a computer and input devices in workspace was developed to support the operator. The computer transforms the desired velocity of end-effector in workspaces to desired joint angles by solving the inverse kinematics of the slave manipulators. The desired joint angles are transferred to the slave controller through RS-485 serial communication, and be followed by the slave manipulator. The developed master system provides advantages in conducting structured tasks(coring, drilling, underwater connector mating, etc.) that require precise control of the end-effector’s motion and attitude. The existing master system, however, is more useful for unstructured tasks than newly developed master system. By combining the two master systems, the work efficiency of the underwater tele-operated manipulator system was improved. This paper presents the development of the workspace-control system and a working strategy to alleviate operator’s burden in underwater works. Experimental results are presented to evaluate the effectiveness of the proposed method using underwater manipulators mounted on the KORDI deep-sea ROV Hemire.     

智能潜器控制系统的实航验证

本文介绍了某智能潜器的系统概要及其使命规划系统和使命控制系统的结构,并通过对其实航试验结果的分析,证明了本系统能够实现自主导航、自主避障等功能。特别是,本系统对潜器的位置和艏向具有优良的控制特性,达到了预定的研究目标。     

Coordinated motion planning and control of autonomous underwatervehicle-manipulator systems subject to drag optimization

A new motion coordination algorithm for an autonomous underwater vehicle-manipulator system (UVMS) is proposed. This algorithm generates the desired trajectories for both the vehicle and the manipulator in such a way that the total hydrodynamic drag on the system is minimized. Resolution of kinematic redundancy of the system is performed at the acceleration level so that this algorithm can be incorporated into the system dynamics. The dynamics of the UVMS are modeled using a quasi-Lagrange approach. A state-space formulation of the system along with a model-based controller design for trajectory-following tasks that includes thruster dynamics is also presented. The computer simulation results demonstrate the effectiveness of this proposed method in reducing the drag on the system     

Investigation of the vectored thruster AUVs based on 3SPS-S parallel manipulator

As an extremely significant tool, autonomous underwater vehicles (AUVs) obtain corresponding development which is widely used in the oceanographic survey, military applications and ocean investigation. However, it is rather hard to fulfill missions about ocean exploration in suspended status or at slow speeds for traditional AUVs, due to the effect of the control surfaces trends to decline or even invalid completely in this condition. To overcome the limitation mentioned above, a torpedo-shaped AUV with vectored thrust ducted propeller is presented in this paper, in which the vector thruster is designed based on a 3SPS-S parallel manipulator. The 3SPS-S parallel manipulator, which has merits of compact structure, high reliability, high precision and fast response, is employed for thrust vectoring control mechanism. Additionally, the kinematics and dynamics model of the thrust-vectoring mechanism is constructed, and the MATLAB simulation results show the designed vectored thruster have great application superiority and potential for AUV. Finally, a control scheme of the vectored thruster is designed after considering the case study. The main idea of this paper lies in describing a novel design of the vectored thruster AUV based on 3SPS-S parallel manipulator, which can complete the mission at zero or slow forward speeds.     

A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

Zero-G Class Underwater Robots: Unrestricted Attitude Control Using Control Moment Gyros

The "Zero-G" is designated as a new class of underwater robot that is capable of unrestricted attitude control. A novel control scheme based on internal actuation using control moment gyros (CMGs) is developed to provide Zero-G class autonomous underwater vehicles (AUVs) with this unique freedom in control. This is implemented in the CMG-actuated Zero-G class internal kinematic underwater robot actuation (IKURA) system that was developed as part of this research. A series of experiments are performed to demonstrate the practical application of CMGs and verify the associated theoretical developments. The ability to actively stabilize the translational dynamics of the robot is assessed and unrestricted attitude control is demonstrated in an experiment that involves vertically pitched diving and surfacing in surge. Finally, potential applications for Zero-G class AUVs are discussed.     

自主水下机器人水下接驳插拔传输与无线感应传输研究现状及对比分析

水下对接传输技术作为自主水下机器人（autonomous underwater vehicle,简称AUV）水下能源补给及数据传输的重要方式,受到国内外的重点关注,目前采用的水下对接传输方式主要分为接驳插拔传输及无线感应传输。在探究国内外AUV水下对接研究概况的基础上,归纳、总结以上两种传输方式的研究现状,分析对比其在对接传输效率、发展限制因素、对接控制技术等方面的区别。通过分析发现,接驳插拔传输在传输效率及功率方面具备优势,无线感应传输则具有更高的简易性、经济性。此发现为不同作业需求下传输方式的选择提供了基础。通过技术发展限制因素对比得出,在未来技术发展方向上,接驳插拔传输技术需提升系统稳定性、灵活性及费效比,无线感应传输需解决能量损耗、系统鲁棒性及涡旋损耗等问题。对两种传输技术未来发展前景及方向的预测,能够为AUV水下传输的发展提供重要参考。