水下自重构机器人的自动对接控制  

Docking Control of Underwater Self-reconfigurable Robots

作　　者：李家旺[1] 葛彤[1] 吴超[1] 王旭阳[1] 

机构地区：[1]上海交通大学水下工程研究所,上海200240

出　　处：《上海交通大学学报》2012年第2期190-194,206,共6页Journal of Shanghai Jiaotong University

基　　金：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

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.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 of the docking problem was presented.Due to the fact that the module＇s kinematics is invertible,the docking problem was separated 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 three directions were presented,and the docking controllers in these directions were designed.The discrete model of the module＇s inverse kinematics was derived.To increase the precision of computation,a stabilizing discrete scheme was proposed.The simulation results illustrate and validate the effectiveness of the proposed docking control method.

关 键 词：水下自重构机器人 对接控制 逆运动学 对中法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]