面向北京2022年冬奥会水下火炬传递的新型机器人  

The New Robots for Underwater Torch Relay at the Beijing 2022 Winter Olympic Games

作　　者：王轶群[1,2,3,4] 田启岩 陆洋 李硕[1,2] 李智刚[1,2,4] 张奇峰 刘鑫宇[5] WANG Yiqun;TIAN Qiyan;LU Yang;LI Shuo;LI Zhigang;ZHANG Qifen;LIU Xinyu(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academyof Sciences,Beijing100049,China;Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169,China;Guangdong Institute of Intelligent Unmanned System,Guangzhou 511458,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049 [4]辽宁省水下机器人重点实验室,辽宁沈阳110169 [5]广东智能无人系统研究院,广东广州511458

出　　处：《机器人》2022年第5期538-545,共8页Robot

基　　金：国家重点研发计划(2021YFF0306200)。

摘　　要：面向北京2022年冬奥会水下火炬传递应用需求,设计水下变结构机器人和两栖机器人,并提出水下火炬传递控制方法。克服机械臂(含火炬)运动和野外流场的复合扰动是火炬传递控制的关键问题,尤其是手持燃烧火炬的机械臂对浮游模式水下机器人的影响更加显著。针对以上问题,本文提出一种基于自适应控制策略的水下火炬传递控制方法,在线辨识静力学和流场水动力参数,预先补偿控制扰动,实现水下机器人的高精度姿态控制、位置控制。最终,在北京2022年冬奥会上成功完成奥运史上首次机器人间水下火炬接力。For the underwater torch relay at the Beijing 2022 Winter Olympic Games,an underwater variable structure robot(VSR)and an amphibious robot(AR)are designed,and the control scheme for the underwater torch relay is proposed.It is an important issue in torch relay control to compensate the composite disturbance caused by robotic arms(including torches)motion and environmental current,and a robotic arm with a burning torch will produce more significant influence on the free-floating UUV(unmanned underwater vehicle).To above concerns,a control method for underwater torch relay based on adaptive control strategy is proposed,which identifies statics and current hydrodynamic parameters online,compensates the control disturbance in advance to achieve high-precision attitude and position control for UUV.Finally,the underwater torch relay between robots is achieved for the first time in the Olympic Games history at the Beijing 2022 Winter Olympic Games.

关 键 词：水下机器人 自适应控制 水下火炬传递 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]