深海水下作业型机械手仿形手柄控制技术研究

Research on Profiling Handle Control Technique for Deep-sea Under Water Manipulator

针对深海水下作业型机械手控制的仿形手柄未能严格“仿形”导致作业性能较差甚至引发作业事故的问题,提出了一种严格按照1∶8比例缩小的仿形操纵手柄,解决了按比例缩小设计后出现的仿形操纵手柄的关节运动干涉问题;在此基础上,提出了多关节协调控制的方法,确保水下机械手作业过程中的完全轨迹跟踪控制。

This paper introduces a profiling control handle designed exactly according to the scale of 1:8, aiming at the problem that profiling handles of oversea underwater manipulator have poor control performance and can even cause accidents because they're not scaled designs. We have solved the arm motion interference coming after the scaling-down design of handle, and given a new way of articulated coordinated control to ensure the trace control.