船舶起吊机械臂轨迹控制方法研究

Study on trajectory control method of ship lifting manipulator

针对船舶起吊机在对货物运输前需进行大量的装配工作,本文提出一种运动学控制方法,根据机械臂的运动学约束和结构特点,采用多机系统进行测量操作,保证测量过程中能够通过多机的联合作业达到机械臂位移测量高速准确效果。同时优化了起重位移测量技术,能够有效提高起吊机械臂进行大角度装配过程的控制精度,避免由于方位角的变化造成的控制误差。为了验证提出的机械臂运行轨迹自动控制技术的有效性,设计了对比仿真实验,通过实验结果表明,控制器能够实现轨迹跟踪,自动控制效果明显。

For the ship lifting machine assembly and a lot of work on the transport of goods before, proposes a control method based on kinematics, kinematic and structural characteristics of the mechanical arm, measured by operation of multi machine system, ensure the measurement process can achieve the manipulator displacement measurement with high accuracy and high speed effect through a combination of multi machine operation. At the same time, the lifting displacement measurement technology is optimized, which can effectively improve the control accuracy of lifting arm's large angle assembly process and avoid the control error due to the change of azimuth. In order to verify the effectiveness of the proposed manipulator's trajectory automatic control technology, a comparative simulation experiment is designed. The experimental results show that the controller can achieve trajectory tracking, and the effect of automatic control is obvious.