水下船体清刷机器人运动分析及仿真

Motion Analysis and Simulation of Underwater Cleaning Robot for Ships

本文分析了水下船体清刷机器人的运动,建立了机器人运动学方程,根据所设计的伺服控制系统对机器人系统进行了运动仿真。结果表明,所设计的机器人系统鲁棒性好,满足设计要求。

This paper analyzes the motion of underwater cleaning robot for ships. The simulation results show that the developed robot system has high robustness and meets the design requirements.