CN105643626A - 一种基于双重判据的水下机器人推力优化分配方法 - Google Patents
一种基于双重判据的水下机器人推力优化分配方法 Download PDFInfo
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- CN105643626A CN105643626A CN201610130717.7A CN201610130717A CN105643626A CN 105643626 A CN105643626 A CN 105643626A CN 201610130717 A CN201610130717 A CN 201610130717A CN 105643626 A CN105643626 A CN 105643626A
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- thrust
- underwater robot
- propeller
- distribution
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- General Health & Medical Sciences (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Software Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
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Priority Applications (1)
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CN201610130717.7A CN105643626B (zh) | 2016-03-08 | 2016-03-08 | 一种基于双重判据的水下机器人推力优化分配方法 |
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CN201610130717.7A CN105643626B (zh) | 2016-03-08 | 2016-03-08 | 一种基于双重判据的水下机器人推力优化分配方法 |
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CN105643626A true CN105643626A (zh) | 2016-06-08 |
CN105643626B CN105643626B (zh) | 2017-06-20 |
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CN201610130717.7A Active CN105643626B (zh) | 2016-03-08 | 2016-03-08 | 一种基于双重判据的水下机器人推力优化分配方法 |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106155076A (zh) * | 2016-08-23 | 2016-11-23 | 华南理工大学 | 一种多旋翼无人飞行器的稳定飞行控制方法 |
CN106919048A (zh) * | 2017-02-22 | 2017-07-04 | 哈尔滨工程大学 | 一种auv推进器状态检测和推力曲线修正方法 |
CN108803634A (zh) * | 2018-09-01 | 2018-11-13 | 哈尔滨工程大学 | 一种基于遗传算法的水下机器人六自由度动力定位推力分配优化方法 |
CN108820167A (zh) * | 2018-05-25 | 2018-11-16 | 哈尔滨工程大学 | 一种仿生型水下机器人的操纵系统及区域控位控制方法 |
CN110579959A (zh) * | 2018-06-07 | 2019-12-17 | 深圳市吉影科技有限公司 | 一种三推水下无人机的闭环运动控制方法及其系统 |
CN113296524A (zh) * | 2021-04-25 | 2021-08-24 | 哈尔滨工程大学 | 水下仿生球形/半球形机器人的推力矢量分配优化方法 |
CN113878587A (zh) * | 2021-11-10 | 2022-01-04 | 天津大学 | 水下游动机械臂旋转壳体的能量优化控制方法及装置 |
CN117111449A (zh) * | 2023-10-19 | 2023-11-24 | 哈尔滨工程大学 | 一种大坝缺陷检测rov抵近航行推力分配系统及方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3481299A (en) * | 1967-12-01 | 1969-12-02 | Honeywell Inc | Control apparatus |
CN102485591A (zh) * | 2010-12-04 | 2012-06-06 | 中国科学院沈阳自动化研究所 | 一种微型水下机器人矢量布置推进器推力分配方法及装置 |
CN103885404A (zh) * | 2014-03-06 | 2014-06-25 | 青岛罗博飞海洋技术有限公司 | 水下机器人四螺旋桨推进器控制方法 |
CN104326074A (zh) * | 2014-10-27 | 2015-02-04 | 中国船舶重工集团公司第七〇五研究所 | 基于cam矩阵的水下机器人矢量推力分配方法 |
CN104477359A (zh) * | 2014-10-27 | 2015-04-01 | 中国船舶重工集团公司第七〇五研究所 | 水下机器人多自由度矢量推进布局方法 |
-
2016
- 2016-03-08 CN CN201610130717.7A patent/CN105643626B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3481299A (en) * | 1967-12-01 | 1969-12-02 | Honeywell Inc | Control apparatus |
CN102485591A (zh) * | 2010-12-04 | 2012-06-06 | 中国科学院沈阳自动化研究所 | 一种微型水下机器人矢量布置推进器推力分配方法及装置 |
CN103885404A (zh) * | 2014-03-06 | 2014-06-25 | 青岛罗博飞海洋技术有限公司 | 水下机器人四螺旋桨推进器控制方法 |
CN104326074A (zh) * | 2014-10-27 | 2015-02-04 | 中国船舶重工集团公司第七〇五研究所 | 基于cam矩阵的水下机器人矢量推力分配方法 |
CN104477359A (zh) * | 2014-10-27 | 2015-04-01 | 中国船舶重工集团公司第七〇五研究所 | 水下机器人多自由度矢量推进布局方法 |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106155076A (zh) * | 2016-08-23 | 2016-11-23 | 华南理工大学 | 一种多旋翼无人飞行器的稳定飞行控制方法 |
CN106155076B (zh) * | 2016-08-23 | 2019-04-09 | 华南理工大学 | 一种多旋翼无人飞行器的稳定飞行控制方法 |
CN106919048B (zh) * | 2017-02-22 | 2019-09-27 | 哈尔滨工程大学 | 一种auv推进器状态检测和推力曲线修正方法 |
CN106919048A (zh) * | 2017-02-22 | 2017-07-04 | 哈尔滨工程大学 | 一种auv推进器状态检测和推力曲线修正方法 |
CN108820167A (zh) * | 2018-05-25 | 2018-11-16 | 哈尔滨工程大学 | 一种仿生型水下机器人的操纵系统及区域控位控制方法 |
CN110579959A (zh) * | 2018-06-07 | 2019-12-17 | 深圳市吉影科技有限公司 | 一种三推水下无人机的闭环运动控制方法及其系统 |
CN108803634A (zh) * | 2018-09-01 | 2018-11-13 | 哈尔滨工程大学 | 一种基于遗传算法的水下机器人六自由度动力定位推力分配优化方法 |
CN108803634B (zh) * | 2018-09-01 | 2021-03-19 | 哈尔滨工程大学 | 一种基于遗传算法的水下机器人六自由度动力定位推力分配优化方法 |
CN113296524A (zh) * | 2021-04-25 | 2021-08-24 | 哈尔滨工程大学 | 水下仿生球形/半球形机器人的推力矢量分配优化方法 |
CN113296524B (zh) * | 2021-04-25 | 2022-11-29 | 哈尔滨工程大学 | 水下仿生球形/半球形机器人的推力矢量分配优化方法 |
CN113878587A (zh) * | 2021-11-10 | 2022-01-04 | 天津大学 | 水下游动机械臂旋转壳体的能量优化控制方法及装置 |
CN117111449A (zh) * | 2023-10-19 | 2023-11-24 | 哈尔滨工程大学 | 一种大坝缺陷检测rov抵近航行推力分配系统及方法 |
CN117111449B (zh) * | 2023-10-19 | 2024-01-09 | 哈尔滨工程大学 | 一种大坝缺陷检测rov抵近航行推力分配系统及方法 |
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CN105643626B (zh) | 2017-06-20 |
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Inventor after: Huang Hai Inventor after: Li Yueming Inventor after: Zhang Guocheng Inventor after: Xu Jinyu Inventor after: Lv Hupeng Inventor after: Li Jiyong Inventor after: Wan Lei Inventor after: Pang Yongjie Inventor before: Huang Hai Inventor before: Li Yueming Inventor before: Zhang Guocheng Inventor before: Xu Jinyu Inventor before: Li Jiyong Inventor before: Wan Lei Inventor before: Pang Yongjie |
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