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Alternative TitleResearch on trajectory planning of 7-function underwater hydraulic manipulator
Thesis Advisor张竺英
Keyword7功能水下液压机械手 液压特性分析 五次多项式 三次b样条 梯度投影法
Call NumberTP242.3/Q86/2014
Degree Discipline控制工程
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractWith the further research on marine, human marine activities such as marine scientific explorations and operations are more and more frequent. However, people couldn’t be competent to these marine activities directly because of the limitation of human beings. Underwater vehicle arises at this historic moment. As the most universal underwater working tool, underwater manipulator has been widely used in all kinds of underwater vehicles. But the current common control mode of underwater manipulator is tele-operation, so that the working performance of underwater manipulator mainly depends on the operators’ operation proficiency. When underwater vehicle is hovering under water, its motion is unstable. It is difficult for operators to accomplish a specific task using underwater manipulator. Underwater vehicle that possesses autonomous operation ability have become one research hotspot in the underwater vehicle technologies.To realize underwater vehicle’s autonomous operation ability, it is necessary to study underwater vehicles modeling and control technology, underwater target identification and positioning technology, manipulator online trajectory planning technology and so on. This paper mainly studies underwater manipulator online trajectory planning, and assumes that the underwater target’s position and attitude can be accurately obtained in real time. When underwater vehicle is locating at the bottom of the sea, it is stationary relative to underwater unmoving target; when underwater vehicle is hovering under sea, underwater target is dynamically changing relative to underwater vehicle. To the both above cases, this paper has studied underwater manipulator’s trajectory planning for the static and dynamic target, respectively. The main contents of this paper are organized as follows:(1) The structure characteristics of the 7-function underwater hydraulic manipulator are proposed, then the rate characteristics of servo value hydraulic flow and joint angular velocity are discussed. All these will provide theoretical basis for underwater manipulator trajectory planning.(2) The methods for establishing manipulator coordinate system and kinematics model are introduced in detail. The redundant inverse kinematics has been applied when manipulator end-effector has no attitude constraint, and the combination of geometric method and Euler angles method has been chosen as the inverse kinematics method when manipulator end-effector has attitude constraint. According to the structure characteristics of the 7-function underwater manipulator, a new method is put forward to inspect manipulator interference.(3) Quintic polynomial curve is used to complete underwater manipulator trajectory planning in working space when underwater vehicle is locating at the bottom of the sea; cubic B-spline curve is used to solve underwater manipulator dynamic trajectory planning in working space when underwater vehicle is hovering under sea. This paper proposes a new control points’ adjustment method, namely maximizing internal of control points, to achieve approximate minimum time path. Gradient projection method is used to track both working space trajectories and obtains optimized joint space trajectories. Continuous optimization factor function is applied in gradient projection method and improves the trajectory tracking accuracy and the optimization effect of joints angle.(4) Simulation and experiment verifies the feasibility and effectiveness of underwater manipulator trajectory planning methods.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
曲风杰. 7功能水下液压机械手轨迹规划研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2014.
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