水下微小型机械手控制系统研究

水下机械手是机器人在水下执行作业时的重要工具,因此研制便于控制、稳定性、可靠性高的水下机械手对于完成水下作业任务具有重要意义。首先在分析抓取任务及水下环境信息的获取的基础上,研究了水下机械手的总体结构并设计了系统的硬件结构和软件组成,接着提出了一种新型水下机械手的速度伺服PID控制方案。测试结果表明,该机械手工作稳定,精度、灵敏度高,能满足水下作业的要求。

Research on Control of Underwater Micro Manipulator

Underwater manipulator is the key tool for the robot and it has great importance to develop an underwater manipulator with good eontrolling, high stability and rehability. Firstly,the overall structure of underwater manipulator were studied through analyzing grasp task and acquisition of water environment information, and architecture of hardware and software were designed. Then, a new speed servocontrol system of autonomous underwater manipulator has been discussed in detail, and the improvement of PID control algorithm ware designed. The final tests show that the manipulator works stably, has high precision, sensitivity as well as meet the requires of the underwater operations.