水下机器人-机械手系统抓取作业轨迹跟踪控制  

Trajectory tracking control of underwater vehicle-manipulator system during the grasping process

作　　者：张扬 夏庆超[1,3] 杨灿军 常宗瑜[4] 宋瑞银[2] 吴定泽 张鑫 ZHANG Yang;XIA Qingchao;YANG Canjun;CHANG Zongyu;SONG Ruiyin;WU Dingze;ZHANG Xin(School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China;School of Mechatronics and Energy Engineering,NingboTech University,Ningbo 315100,China;Ningbo Innovation Center,Zhejiang University,Ningbo 315100,China;College of Engineering,Ocean University of China,Qingdao 266404,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]浙江大学机械工程学院,浙江杭州310027 [2]浙大宁波理工学院机电与能源工程学院,浙江宁波315100 [3]浙江大学宁波科创中心,浙江宁波315100 [4]中国海洋大学工程学院,山东青岛266404 [5]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《哈尔滨工程大学学报》2025年第3期540-549,共10页Journal of Harbin Engineering University

基　　金：中国博士后科学基金项目(2023TQ0290,2023M743002).

摘　　要：针对水下机器人-机械手系统在进行水下作业任务时精确运动轨迹跟踪控制困难的问题,本文提出了水下机器人-机械手系统水下作业的双环滑模控制方法。基于水下机器人-机械手系统运动学和动力学模型,对水下机器人-机械手系统水下抓取作业过程进行轨迹跟踪控制研究;考虑机械手末端执行器作业过程中参数变化对机械手拾起和放置物体的全过程进行模拟;通过仿真模拟分析对比例积分微分控制、计算力矩控制、传统滑模控制和双环滑模控制等方法进行对比。结果表明:双环滑模控制方法能够提高本体和机械手的控制精度、减小机械手末端执行器的跟踪误差、降低系统总的能量消耗,并且水下机器人-机械手系统抓取重物时对机械手关节的影响要大于对本体位姿的影响。To address the challenge of precise motion trajectory tracking control for underwater vehicle-manipulator systems(UVMS)during underwater operations,a double-loop sliding mode control method for UVMS was proposed in this work.Based on the kinematics and dynamics model of UVMS,the trajectory tracking control during the underwater grasping operation was analyzed.The entire process of the manipulator picking and placing an object was simulated,considering the parameter changes of the manipulator′s end effector during operation.The proportional-integral-derivative(PID)control,computed torque control,sliding mode control,and double-loop sliding mode control methods were compared through simulation analysis.The results demonstrate that the double-loop sliding mode control method enhances the control accuracy of the vehicle′s pose and the manipulator′s joint angles and reduces the tracking error of the manipulator′s end effector as well as the total energy consumption of the system.Moreover,the influence on the manipulator joints was found to be greater than that on the vehicle′s pose during the UVMS grasping process.

关 键 词：水下机器人 水下机器人-机械手系统 轨迹跟踪 双环滑模控制 参数变化 拾起与放置 控制精度 跟踪误差 

分 类 号：TP[自动化与计算机技术]