The invention belongs to the technical field of underwater operation robots, and particularly relates to a self-decoupling underwater dynamic balance operation robot. Compared with the prior art, the self-decoupling underwater operation robot has the advantages that the self-decoupling device is additionally mounted at the joint of the mechanical arm and the robot body, flexible connection between the robot body and the mechanical arm base is achieved through the self-decoupling device, and through the pose measurement sensor integrated on the device platform, the posture change of the robot body is sensed in real time, the mechanical arm is adjusted to a designated position through the control of the self-decoupling device controller and the balance control of the base of the carried mechanical arm, the hard disturbance of the posture disturbance of the robot body to the base of the mechanical arm is weakened, and therefore the real-time high-precision tail end track control of the mechanical arm is achieved. And body-mechanical arm coupling control does not need to be considered from an algorithm, so that the algorithm complexity of respective controllers of the body and the mechanical arm is reduced, and the dynamic balance accurate operation in the floating state can be realized.
本发明属于水下作业机器人的技术领域,具体涉及的是一种自解耦水下动平衡作业机器人。相对于现有技术,本发明提供的一种自解耦水下作业机器人,通过在机械臂与机器人本体连接处加装一种自解耦装置,通过该装置实现机器人本体与机械臂基座的柔性连接,通过装置平台上集成的位姿测量传感器,实时感知机器人本体的位姿变化,通过自解耦装置控制器控制与搭载机械臂基座的平衡控制,使机械臂调整到指定位置,消弱机器人本体位姿扰动对机械臂基座产生的硬性扰动,从而实现机械臂实时高精度末端轨迹控制,不用从算法上考虑本体‑机械臂耦合控制,减少了本体与机械臂各自控制器的算法复杂度,也能够实现浮游状态的动平衡精确作业。
Self-decoupling underwater dynamic balance operation robot
一种自解耦水下动平衡作业机器人
2021-12-10
Patent
Elektronische Ressource
Chinesisch