上海交通大学学报

上海交通大学学报（自然版） ›› 2012, Vol. 46 ›› Issue (02): 190-194.

• 自动化技术、计算机技术 • 上一篇    下一篇

水下自重构机器人的自动对接控制    

李家旺，葛彤，吴超，王旭阳   

  1. (上海交通大学 水下工程研究所, 上海 200240)  
  • 出版日期:2012-02-28 发布日期:2012-02-28
  • 基金资助:

    国家高技术研究发展计划（863）项目(2007AA09Z215),高等学校博士学科点专项科研基金(20070248034)，国家自然科学基金（51009091）资助项目

Docking Control of Underwater Selfreconfigurable Robots

 LI  Jia-Wang, GE  Tong, WU  Chao, WANG  Xu-Yang   

  1. (Institute of Underwater Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • Online:2012-02-28 Published:2012-02-28

摘要： 讨论了平面内水下自重构机器人的2个模块间的对接控制问题. 根据传感器信号强度与模块相对坐标的误差之间的关系，给出了对接控制问题的优化目标函数. 考虑到模块的运动学方程可逆，将该问题分解成了3个自由度上的子优化问题. 依据对中法思想，给出了各自由度上自动搜索的优化目标函数，并设计了相应的调整控制律. 建立了模块的逆运动学离散方程，并设计了一种稳定化修正格式以提高数值计算精度. 仿真实验结果表明，所提出的自动对接控制算法能够很好地实现模块之间的对接.

关键词: 水下自重构机器人, 对接控制, 逆运动学, 对中法

Abstract:   This paper discussed the problem of planar docking between two modules of an underwater self-reconfigurable robot(USR). From the relation between the sensors intensity and coordinate errors of the modules, the optimized function ofthe docking problem was presented. Due to the fact that the module-s kinematics is invertible, the docking problem wasseparated into three sub-optimized problems in the directions of x, y and θ respectively. Based on the concept of centering method, the sub-optimized functions in the threedirections were presented, and the docking controllers in these directions were designed. The discrete model of themodule-s inverse kinematics was derived. To increase the precision of computation, a stabilizing discrete scheme wasproposed. The simulation results illustrate and validate the effectiveness of the proposed docking control method.  

Key words: underwater self-reconfigurable robot (USR), docking control, inverse kinematics, centering method

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