The embodiment of the invention provides an underwater mechanical arm tail end position compensation method and device and an underwater robot, and solves the problem that the positioning precision of the tail end of a mechanical arm is directly affected due to the fact that a mechanical arm base is difficult to keep stable due to the disturbance effect of water flow in all directions. The method comprises the following steps: acquiring data of a plurality of sensors, and performing data fusion on the data of the plurality of sensors so as to position the underwater robot; a global coordinate system and a mechanical arm tail end coordinate system are established, and the target position of the mechanical arm tail end coordinate system relative to the global coordinate system is obtained; the position of the mechanical arm tail end coordinate system relative to the global coordinate system is obtained based on the mechanical arm tail end coordinate system; based on the target position of the mechanical arm tail end coordinate system relative to the global coordinate system and the position of the mechanical arm tail end coordinate system relative to the global coordinate system, the position deviation of the mechanical arm tail end under the global coordinate system is obtained; and performing mechanical arm tail end position compensation based on the position deviation of the mechanical arm tail end under the global coordinate system.

    本发明实施例提供了一种水下机械臂末端位置补偿的方法、装置和水下机器人,解决了由于受到各个方向水流的扰动作用,使得机械臂基座难以保持稳定,从而直接影响机械臂末端的定位精度的问题。该方法包括:获取多个传感器数据,将多个传感器数据进行数据融合,以对水下机器人进行定位;建立全局坐标系和机械臂末端坐标系,获取机械臂末端坐标系相对于全局坐标系的目标位置;基于机械臂末端坐标系得到机械臂末端坐标系相对于全局坐标系的位置;基于机械臂末端坐标系相对于全局坐标系的目标位置和机械臂末端相坐标系对于全局坐标系的位置得到机械臂末端在全局坐标系下的位置偏差;基于机械臂末端在全局坐标系下的位置偏差进行机械臂末端位置补偿。


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    Title :

    Underwater mechanical arm tail end position compensation method and device and underwater robot


    Additional title:

    一种水下机械臂末端位置补偿的方法、装置和水下机器人


    Contributors:
    LIU KEAN (author) / MEI WENQING (author) / GUO WEI (author) / HUANG ZHONG (author) / LIU HAOPING (author) / ZHANG DINGHUA (author)

    Publication date :

    2024-05-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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