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描述了自治水下机器人搭载的三功能水下电动机械手的设计.鉴于自治水下机器人—机械手系统是运动学冗余的且自带能源,因此将系统阻力优化函数引入逆运动学求解,设计了基于系统能源消耗最小的系统协调运动规划算法.仿真表明,该算法在解决系统冗余度的同时,有效地减小了系统能源消耗.
The design of a three-function underwater electric manipulator equipped with an autonomous underwater robot is described. Since the autonomous underwater robot-manipulator system is kinematically redundant and has its own energy, the system drag optimization function is introduced into the inverse kinematics solution. Based on the system coordinated motion planning algorithm with the lowest system energy consumption, the simulation shows that the proposed algorithm can effectively reduce the system energy consumption while solving the system redundancy.