摘要
研究了一种应用于水下自重构机器人的新型水下湿式机电对接技术.采用多卡爪机械锁紧机构和充油密封方式,实现了水下可靠的机械与电气连接;利用机器人逆运动学方法实现关节的协调控制,进行对接过程末端模块的轨迹规划;利用对光电引导传感器组信号的优化来辅助水下对接;成功研制了该水下连接装置和基于该装置的水下自重构机器人样机.通过在样机上的实际应用,验证了该技术的有效性.
This paper presented a novel underwater electromechanical docking technology used on the underwater self-reconfigurable robot. The multi-jaw mechanical device and oil seal method were applied, which realized reliable mechanical and electrical connection. The robotic inverse kinematics was studied in joint coordinated control, which was used for tracking the end module while docking. The signal optimization algorithm for photoelectric sensors was applied to assist underwater docking. The underwater docking device and prototype of underwater self-reconfigurable robot based on the device were developed. The application on USR verified the validity of the technology.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2013年第10期1621-1625,共5页
Journal of Shanghai Jiaotong University
基金
国家高技术研究发展计划(863)项目(2007AA09Z215)
海洋工程国家重点实验室基金项目(GKZD010056-14)资助
关键词
水下自重构机器人
水下对接
光电引导
机器人逆运动学
underwater self-reconfigurable robot
underwater docking
photoelectric guidance
roboticinverse kinematics
