| The ocean is the cradle of life,with rich resources.With the development of the times and the progress of science and technology,the vision of human exploration gradually focuses on the ocean.All kinds of ships and working platforms are easy to be disturbed by the waves and currents when they are sailing and working on the sea,resulting in six degrees of freedom movement,low efficiency of operation,and sometimes major safety accidents.In this paper,the research on the wave compensation robot is carried out to make the robot can compensate the motion generated by the wave disturbance while working,so that the robot can work on the sea as smoothly as on the land.In this paper,the compensation principle,control flow,control algorithm,simulation experiment,physical experiment and other aspects of the wave compensation robot are studied.(1)Firstly,the influence of waves on the robot operation is analyzed when the ship is sailing at sea.Based on the analysis of the influencing factors,the basis of the selection of the wave compensation robot is proposed.According to the selection results,the position and attitude compensation principle of the robot is analyzed.Analyze the control process of the control system.Make a feasible plan.(2)Because the robot studied in this paper is a 6-DOF series robot,the D-H method is used to model the forward kinematics and inverse kinematics of the robot,and the simulation is verified by MATLAB.Lay a theoretical foundation for further research.(3)This paper studies the single joint control strategy of robot,deduces the mathematical model of joint motor and servo system according to the actual parameters,expounds the principle of conventional PID and neural network PID algorithm,and simulates and analyzes the whole control system through Simulink.(4)The simulation experiment of the wave compensation robot is carried out,and the 3D model of the robot is drawn by Solid Works software.The 3D model is imported into Sim Mechanics for 3D visual simulation,and the relevant algorithm module is compiled,and the compensation effect is further observed in combination with the control strategy.(5)The wave compensation robot is studied and the hardware and software of the experimental system are designed.Through the analysis of experimental data,the compensation algorithm and model are further verified. |
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