Research Of Control Method And System Integration Of Underwater Manipulator

Underwater manipulator is a widely used underwater device.However,the complex underwater environment and the impact and interference of water flow increase the difficulty of the control of the underwater manipulator.Therefore,the research of high performance motion control algorithm and control system is of great significance to the design and research of underwater manipulator.In this paper,R5M underwater manipulator is taken as the research object,and the kinematics and dynamics modeling,motion control methods and motion control system of underwater manipulator are studied respectively.The forward kinematics equation of the underwater manipulator was entrenched by D-H representation mode,and the inverse kinematics solution was derived by numerical analysis method.The kinematics model and Monte Carlo method were combined to solve the motion space of R5M underwater manipulator in MATLAB simulation environment.The force of the underwater manipulator in the water environment is analyzed,and the force of the underwater manipulator in the water environment is solved.Based on the Lagrange dynamics equation,the dynamics model of the underwater manipulator in the water environment is established.The influence of water force on the motion control of manipulator was analyzed by the dynamics model in MATLAB simulation environment.Aiming at the motion control of underwater manipulator,a sliding mode control method based on RBF neural network based on the block approximation of dynamics model was proposed.Based on the sliding mode control,five RBF neural networks are used to approximate the nominal model parameters of the underwater manipulator,and the symbol function in the control law is replaced by the saturation function.The simulation results show that the proposed method can quickly compensate the errors between the calculation model and the actual model,and reduce the chattering effect of the control system,so as to improve the response speed and steady-state accuracy of the underwater manipulator.Based on the distributed characteristics of ROS,an underwater manipulator control system with remote PC and embedded system is designed.The design of hardware interface circuit and deployment of ROS operating system are completed in Zynq-7020 hardware platform.The functional modules of motion control and motion planning are designed under the framework of ROS software.The experimental platform is built and the control experiment of R5M underwater manipulator is carried out.