| Various types of unmanned submersibles are important tools for humans to explore and develop the ocean.Humans can use submersibles to understand the ocean in depth,engage in the exploration and development of deep-sea resources,and realize shipwreck rescue and salvage.While unmanned submersibles are widely used,they also face various problems.Unlike ships,unmanned submersibles require retractable systems as important supporting equipment.At present,the research on the retracting and releasing system of ship-borne unmanned submersibles is not perfect,and there are defects such as poor anti-sway ability,low efficiency,low safety,and low applicable sea conditions.To this end,this article proposes an auxiliary operation manipulator for the unmanned underwater vehicle retractable device,which can effectively offset the disturbance caused by wind and waves,and autonomously identify and grasp the target,so that the retractable system of the unmanned submersible can adapt to high sea conditions and is more High efficiency,safety,automation,and intelligence,and improve the level of development in the field of unmanned submersible equipment.Aiming at the problem that robots are also affected by wind and waves,this thesis designs a robot with wave compensation based on visual servo control.According to the use scene and use requirements of the robot,the structure design and selection of the robot are carried out,and the robot model is established through the D-H parameter method.The working space of the robot is calculated through MATLAB and compared with the actual demand to verify the rationality of the robot structure.Introduce the forward kinematics and inverse kinematics of the robot pose,analyze the robot wave compensation principle and the visual servo control principle,avoid the robot singular position through the singularity analysis based on the Jacobian matrix,and realize the wave compensation function at the same time,By introducing the visual servo function,setting the robot working judgment conditions,the robot can realize the dual closed-loop control of the two functions simultaneously.In order to make the robot’s motion control system more flexible and stable,through the comparative analysis of the three control algorithms of ordinary PID,fuzzy PID,and fuzzy neural network PID,it is finally determined to use the fuzzy neural network PID algorithm to control the motors of each joint of the robot.Through the use of MATLAB and Coppeliasim software to carry out joint simulation of the robot,various functions of the robot are realized by building the corresponding control system.In the simulation process,the following response trajectory curve of the robot end under the visual servoing,the compensation trajectory curve under the influence of wind and waves,and the trajectory curve of the visual servo control under the influence of wind and waves are extracted.The results show that the designed robot can realize wave compensation and visual servoing functions at the same time,and will not interfere with each other.It runs smoothly during operation,and the end trajectory fluctuates smoothly over time,which verifies the feasibility and correctness of the control strategy.Through the selection and design of software and hardware such as the upper computer platform software,a prototype experimental platform is built,and the tracking response function of the robot under visual servoing and the compensation of the end effector under the conditions of roll,pitch and heave are verified through experiments.The experiment results demonstrate and analyze the experimental results.The experimental results show that the robot can realize the wave compensation function and the visual servo function,the compensation effect is good,and it has a faster response speed.This research is a robot with both the visual servo function and the wave compensation function.The application in the field of offshore operations has laid a theoretical foundation. |
PDF Full Text Request