摘要
为了研究海洋环境下水下机械手智能控制相关技术,在研究室所研制的无人无缆自主式水下机器人用机械手的基础上,从控制系统硬件和软件两个方面进行了水下机械手控制系统设计;为了实现上位机和下位机之间的信号传输,制定了双向通信协议;最后进行了调试实验,其结果验证了所设计的水下机械手控制系统的正确性和可靠性。水下机械手控制系统的设计为水下机械手智能控制研究奠定了基础。
In order to study the intelligent control technique of the underwater manipulator in the marine environment,the control system of the underwater manipulator has been designed from the hardware and the software of the control system on the basis of the underwater manipulator developed in the laboratory for the Autonomous Underwater Vehicle ,In order to achieve the signal transmission between the PC and the next crew,the two-way communication protocol has been constituted,Finally it is debugging and experiment ,the result has confirmed the underwater manipulator control system＇s accuracy and reliability. The design of the underwater manipulator control system has laid the foundation for the study of the intelligent control to underwater manipulator.
出处
《机械设计与制造》
北大核心
2009年第5期185-187,共3页
Machinery Design & Manufacture
关键词
水下机械手
控制系统
通信协议
Underwater manipulator
Control system
Communication protocol
