Study On Key Technique For Coordinated Manipulation For Dual Manipulators In Simulated Deepwater Environment

The deep-water dual manipulator equipped with the serial of working underwatervehicle plays an important role in the offshore oil and gas mine. In order to improveautomation level for the ocean material mine with underwater vehicle and the efficiency ofthe emergency response work, a serial theories and methods are illustrated in the paperinclude theoretical analysis, computer simulation research methods, development ofdeep-sea oil and gas dual manipulator related work tasks analysis, hydrodynamics, andcoordination of operational planning, coordinating role of the controller and integratedsimulation study.First of all, the research background for underwater manipulator anddual-manipulators coordinate-operation are described in this part, especially the relatedresearch in china and abroad are presented. Through the reviewed research and analysis ofunderwater manipulator application in the Gulf of Mexico oil spill disposal, the difficultiesfor the dual-manipulators coordinated work in the deep-sea are illustrated. And ten, theresearch object and content of this paper are clarified from the analyses.Secondly, the Huahai-6H manipulator is taken as a research experiment which isdesigned by Huazhong University of Science and Technology. The kinematics, workspace, and hydrodynamic for this underwater manipulator are studied in this part. Throughestablished the dual-manipulators model, the rapid calculation of the singular surface of ahybrid method and numerical method work space are designed. For the workingcircumstance, a hydrodynamic model of the manipulator system is established. Buoyancyand a constant flow of manipulator dynamics simulation analysis using numerical methodsare proposed. In the deep-sea manipulator dynamics, the buoyancy factor should be takenin full account of the hydrodynamic modeling.And then, two Huahai-6H underwater manipulators are taken into a research object.The study of the kinematics and dynamics of the problem for the job in handling the samerigid body (closed chain coordination problems) are presented. Meanwhile, a closed chainsystem kinematics power learning model is established. An optimized distance functionobstacle avoidance, and for its operation coordinated trajectory planning are illustrated. The dual manipulator rod parts and joints on a number of points for a selected featurepoints, the feature point distance functions are established. And the optimal characteristicfunctions are obtained by the gradient projection method the respective trajectory planningdual-manipulators coordination working.Finally, the force and position controller is designed for the mechanical hand tightcoordination problems of this dual-manipulator. The current actual situation integratedunderwater manipulator coordinate handling simulation model is designed. Meanwhile, asliding mode fuzzy controller and ring inclusive position controller for the coremanipulator are presented. And the controllers are designed for previous hydrodynamicmodel knowledge but not for its accuracy requirements.