拱泥机器人的运动分类及控制  

Movement classifying and control for move-in-mud robot

作　　者：张英[1] 

机构地区：[1]武汉理工大学物流工程学院,武汉430063

出　　处：《船海工程》2007年第6期100-102,共3页Ship & Ocean Engineering

摘　　要：提出一个简单、可靠的运动分类及控制方案,将机器人的复杂运动分解为两类基本运动——自律运动和姿态调整,分别采用程序控制和人工控制模式进行控制。This paper proposes a simple and reliable movement control method for move-in-mud robot, that is its complex movement is decompounded two types of basic movements, autonomic movement and poseadjusting one, which are controlled respectively by two kinds of control modes, program control and manual control. This kind of mixed control method has simple, practical and tractable advantages.

关 键 词：沉船打捞 拱泥机器人 运动控制 

分 类 号：U676.6[交通运输工程—船舶及航道工程]