WO2019010918A1 - 一种波浪补偿机器人系统及其控制方法 - Google Patents

一种波浪补偿机器人系统及其控制方法 Download PDF

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Publication number
WO2019010918A1
WO2019010918A1 PCT/CN2017/116485 CN2017116485W WO2019010918A1 WO 2019010918 A1 WO2019010918 A1 WO 2019010918A1 CN 2017116485 W CN2017116485 W CN 2017116485W WO 2019010918 A1 WO2019010918 A1 WO 2019010918A1
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controller
data
ship
control
deck
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French (fr)
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卢道华
陈文君
韩彬
王佳
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Jiangsu University of Science and Technology
Marine Equipment and Technology Institute Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
Marine Equipment and Technology Institute Jiangsu University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers

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  • the invention relates to the technical field of marine marine machinery, in particular to a wave compensation robot system and a control method thereof.
  • a wave compensation system and a control method thereof are described in Chinese Patent No. 201610950110.3.
  • the wire rope of the overhead cable winch passes through the tension actuator, the pulley block and the crane in turn.
  • the tension actuator includes a fixed pulley, a movable pulley and a hydraulic cylinder disposed between the movable pulley and the movable pulley.
  • the cylinder of the hydraulic cylinder is fixedly connected with the fixed pulley, and the hydraulic pressure
  • the piston rod of the oil cylinder is fixedly connected with the movable pulley, the accumulator is connected with the hydraulic oil cylinder, and the driving device is connected with the overhead cable winch.
  • the control device comprises a displacement sensor for detecting the displacement of the piston rod, and the rotation of the high rope cable is controlled according to the displacement of the piston rod.
  • the controller is connected to the displacement sensor and the driving device respectively. Wave compensation is performed jointly by the overhead cable winch in cooperation with the tension actuator.
  • the compensation system of the above patent has complicated structure, complicated installation, low efficiency and compensation precision, troublesome maintenance and high cost. Therefore, in order to solve the above technical problems, it is necessary to develop a structure with simple structure, convenient operation, wide use range, high efficiency and function.
  • a multi-degree-of-freedom wave compensation robot system with multiple advantages and a control method of the system.
  • the technical problem to be solved by the present invention is to provide a wave compensation robot system and a control method thereof, which can solve the problems of replenishing materials, hulls and replenishing personnel due to shaking of the supply ship caused by wind waves when replenishing work at sea.
  • the technical solution of the present invention is: a wave compensation robot system installed on a deck of a ship; the innovations are: including a robot arm, a controller, a teach pendant, an inertial navigation, a PC, a switch And RS232 to Ethernet module;
  • the mechanical arm is fixed on the ship deck by bolts;
  • the inertial guide is fixedly connected to the ship deck beside the mechanical arm by bolts, and is used for real-time detecting the state of the ship after being affected by wind and waves;
  • the RS232 to Ethernet module passes The bolt is fixed to the deck of the ship adjacent to the inertial guide.
  • the RS232 to Ethernet module is connected to the output port of the inertial navigation through a data line;
  • the switch is connected to each component through a data line on the deck to establish a local area network for transmitting data;
  • the PC receives the data of the inertial output, performs data processing, compiles the tracking base standard program, and controls the algorithm to compensate, and compiles the compiled program.
  • Downloading to the controller; the teach pendant and the controller cooperate to control the robot arm; one end of the controller exchanges data with the computer, and the other end of the controller is connected with the robot arm and controls the robot arm to perform compensation motion.
  • S2 the local area network established by the switch transmits the data sent by the inertial navigation to the PC;
  • the inertial navigation in the S1 can detect the angle of the roll, the pitch, the distance of the sway, the heave and the heave, the speed of the sway, the heave, and the heave.
  • the tracking base mark in the S3 is to find out the offset of the pedestal target and the world coordinate detected in the INS, and the new value of the input is continuously overwritten with the old value by programming. Then, the algorithm of the bottom layer of the controller is used to realize the tracking base mark, and then the correction base mark is used to realize the coincidence of the base mark and the world coordinate system, so that the end effector can smoothly supply and replenish even if the base of the mechanical arm is moving. Supplies.
  • control algorithm uses fuzzy PID control, uses the basic theories and methods of fuzzy mathematics, expresses the conditions and operations of the rules with fuzzy sets, and stores these fuzzy control and related information as knowledge in the computer knowledge base, and then According to the actual response of the control, the fuzzy number is used to achieve the best adjustment of the PID parameters.
  • the mechanical arm used in the device of the invention has the advantages of simple structure, compactness, convenient maintenance, multiple compensation directions, high precision and convenient operation.
  • the mechanical arm used in the device of the present invention has advantages of high precision, high reliability, and increased operator safety as compared with a system for replenishing materials by using a wire rope or the like.
  • the control method in the device of the present invention is novel and does not need to enter the bottom layer for development.
  • the goal can be achieved, and the workload is smaller and the effect is better than the workload of the underlying development.
  • the device and the control method of the present invention are applicable to most series-connected mechanical arms, do not have the limitations of a certain brand and model, and have a wide application range.
  • the control method is novel, the algorithm is simple, and the compensation effect is good.
  • FIG. 1 is a schematic view showing the overall structure of a wave compensation robot system of the present invention.
  • FIG. 2 is a flow chart of a hardware system of a wave compensation robot control method according to the present invention.
  • FIG. 3 is a schematic diagram of a tracking base standard of a wave compensation robot control method according to the present invention.
  • FIG. 4 is a flow chart of a fuzzy rule operation of a fuzzy PID control system for a wave compensation robot control method according to the present invention.
  • FIG. 5 is a flow chart of a wave compensation robot control method according to the present invention.
  • a wave compensating robot system is integrally mounted on a ship deck; the system consists of a robot arm body 1, an inertial guide 2, an RS232 to Ethernet module 3, a switch 4, a PC 5, The controller 6 and the teach pendant 7 are composed.
  • the main body 1 of the robot arm is fixed to the deck of the ship by bolts for transporting the replenishment materials; according to the installation requirements and the use method of the inertial guide 2, the inertial guide 2 is fixed to the deck of the ship by bolts, and is close to the base of the main body 1 of the robot arm.
  • Inertial Guide 2 can detect the change of the attitude of the ship caused by wind and waves in real time, and at the same time, it is also the transformation of the base of the main body of the robot arm;
  • the RS232 to Ethernet module 3 is fixed on the ship deck by bolts, and one end passes the DB9 needle.
  • the serial port is connected to the INS 2, and the other end is connected to the switch 4 through the network cable;
  • the switch 4 is connected to the RS232 conversion module 3, the PC 5, the controller 6 and the teach pendant 7 through the network cable to form a local area network;
  • the PC 5 receives the inertial navigation 2 After the data is sent, it is compiled and processed, and then the software compiles the tracking base standard program and the control algorithm to compensate, and finally compiles the program.
  • the program is downloaded to the controller 6; the control algorithm of the bottom layer of the robot arm in the controller 6 can automatically plan the path, and control the main body 1 of the robot to move; the teach pendant 7 writes the movement command and the controller 6 needs to use the arm body together. 1 Perform wave compensation control.
  • Figure 2 is a hardware system flow chart
  • INS 2 detects the movement state of the ship deck under wind and wave conditions, and transmits data in real time
  • the port of INS 2 is an RS232 port, in order to read data, it is necessary to use RS232 to Ethernet module 3 for more Good transmission
  • switch 4 establishes a local area network for the whole system to facilitate data transmission in the local area network
  • RS232 to Ethernet module 3 PC5, controller 6 and teach pendant 7 are connected to the switch through the network cable;
  • the processing and program compilation are performed, the compiled program is downloaded to the controller 6, and finally, the robot 6 main body 1 is collectively controlled by the controller 6 and the teach pendant 7 to carry out the material replenishment.
  • Figure 3 is a schematic diagram of the tracking base of the robot system with wave compensation function.
  • the base system of the robot arm and the world coordinate system are coincident, that is, the coordinate system XYZ; when the ship is affected by wind and waves during the operation, the base coordinates are due to the shaking and rocking of the deck.
  • the data is an angular offset or a position offset of the base mark and the world coordinates, and the data for which the compensation direction needs to be extracted is continuously sent to the controller in a format recognizable by the controller 6; the controller 6 will be real time.
  • the amount of change in the base mark and the world coordinate system is received, and the amount of change is reversed to the amount of change that the base mark needs to compensate.
  • Figure 4 is a flow chart of the fuzzy rule operation of the fuzzy PID control system; Paste logic and approximate reasoning method, using computer to formalize and model human experience, perform fuzzy reasoning according to given language control rules, give fuzzy output judgment, and convert it into precise quantity, send feedback to charged Object.
  • the deviation e and the output deviation change rate ec of the system output are used as input information, and the change of the control amount is taken as the output of the controller.
  • the PC obtains the control amount according to the sampled e and ec through the query control rule table, and feeds the fuzzy control to the control object implementation process.
  • ⁇ ec ⁇ -6,-5,-4,-3,-2,-1,0,1,2,3,4,5,6 ⁇
  • Ec ⁇ NB, NM, NS, Z, PS, PM, PB ⁇
  • K p , K I and K D obey the normal distribution, and obtain the membership degree of each fuzzy subset. Then according to the membership degree value table and each parameter fuzzy control model, apply the fuzzy synthesis theory to design the fuzzy matrix table of PID parameters. Correct the parameters, and finally bring them into the following formula
  • K P K P '+ ⁇ e i ,ec i ⁇ P
  • K I K I '+ ⁇ e i ,ec i ⁇ I
  • K D K D '+ ⁇ e i ,ec i ⁇ D
  • the self-correction of the PID parameters is completed by looking up the table and the operation.
  • Figure 5 is a flow chart of the wave compensation control method; first, the inertial guide 2 is used to detect the motion state of the ship deck caused by the wind and waves; then, the data is transmitted to the PC 5, in the PC 5 The data string is extracted and processed; then, the extracted data is compiled in the software of PC5 to compile the tracking base label and the fuzzy PID control algorithm; after the compilation is completed, the programs are downloaded to the network cable without error.
  • the controller 6 in the next step, the motion instruction is compiled in the teach pendant 7. For example, if you want to use the robotic arm to transport the supplies in a straight line from the supply ship, you need to edit the straight line command in the teach pendant 7 and use the relative reference system. Finally, combine the program and teaching in the controller 6.
  • the commands in the device 7 collectively control the robot body 1 to complete the material replenishment work.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)

Abstract

一种波浪补偿机器人系统及其控制方法，波浪补偿机器人系统安装在船舶的甲板，包括机械臂（1）、控制器（6）、示教器（7）、惯导（2）、PC（5）、交换机（4）和RS232转以太网模块（3）；使用时，首先，运用惯导（2）检测出由于风浪引起的船舶甲板的运动状态；然后，将数据传送给PC（5），在PC（5）中对数据串进行提取和处理；接着，在PC（5）中的软件里运用提取出来的数据编译跟踪基座标和模糊PID控制算法；编译完成之后，在没有错误的情况下，将这些程序通过网线下载到控制器（6）中；在示教器（7）中编译运动指令；最后，结合控制器（6）中的程序和示教器（7）中的命令共同控制机械臂（1）完成物资补给工作。

Description

一种波浪补偿机器人系统及其控制方法 技术领域
本发明涉及海上船用机械技术领域，尤其涉及一种波浪补偿机器人系统及其控制方法。
背景技术
随着人类对地球资源的不断探索和开采，丰富的海洋资源得到了越来越多人的青睐。海洋资源可开发的潜力很大，近年来在海上作业的海洋平台和船舶的数量不断增加。通常，在海洋平台和船舶作业时，需要不断的为其补充食品和燃油等物资，保证其能够正常作业。在不能靠岸和停止工作的情况下，一般采用海上补给的方式，对海洋平台和船舶进行物资补给。由于风浪的影响，船舶会做无规律的摇摆导致船舶的相对位置发生变化。同时，这些变化会导致物资补给的难度加大，影响工作效率和人员安全等问题发生。所以，如何去除风浪对补给船舶工作中的影响，提高工作效率和保证工作人员安全，有着重大的意义。
目前，海上补给大多数是通过钢丝绳将补给物资从补给船舶传输到海洋平台和接收船舶上的，并且钢丝绳是悬空设置的。由于风浪的影响，钢丝绳上运送的物资会产生无规律的摇摆，有可能在比较恶劣的海况下发生物资坠海和碰撞船体及相互碰撞等问题。
例如，中国专利201610950110.3中所述的一种波浪补偿系统及其控制方法。包括高架索绞车、张力作动筒、滑轮组、吊车、蓄能器、 驱动装置以及控制装置。高架索绞车的钢丝绳依次穿过张力作动筒、滑轮组、吊车，张力作动筒包括定滑轮、动滑轮以及设置在动滑轮和动滑轮之间的液压油缸，液压油缸的缸体与定滑轮固定连接，液压油缸的活塞杆与动滑轮固定连接，蓄能器与液压油缸连通，驱动装置与高架索绞车传动连接，控制装置包括用于检测活塞杆的位移的位移传感器、根据活塞杆的位移控制高架索绞车转动的控制器，控制器分别于位移传感器和驱动装置连接。通过高架索绞车协同张力作动筒共同进行波浪补偿。
上述专利中补偿系统的结构复杂，安装繁琐、效率和补偿精度不高，维护麻烦，成本高；针对上述技术问题，因此需要研发一种具有结构简单、操作方便、使用范围广、效率高和功能多等优点的串联的多自由度波浪补偿机器人系统和该系统的控制方法。
发明内容
本发明要解决的技术问题是提供一种波浪补偿机器人系统及其控制方法，能够解决在海上进行补给工作时，由于风浪引起补给船的晃动而造成补给物资、船体和补给人员的危险等问题。
为解决上述技术问题，本发明的技术方案为：一种波浪补偿机器人系统，该系统安装在船舶的甲板；其创新点在于：包括机械臂、控制器、示教器、惯导、PC、交换机和RS232转以太网模块；
所述机械臂通过螺栓固定在船舶甲板上；所述惯导通过螺栓固定连接在机械臂旁的船舶甲板上，用来实时检测船舶所受风浪影响后的状态；所述RS232转以太网模块通过螺栓固连在惯导旁船舶甲板上， RS232转以太网模块与惯导的输出端口通过数据线相连；
所述交换机在甲板通过数据线与各部件相连建立局域网用于传送数据；所述PC接收惯导输出的数据，进行数据处理、编译跟踪基座标程序和控制算法进行补偿，将编译好的程序下载到控制器；所述示教器和控制器配合对机械臂进行控制；所述控制器的一端与计算机进行数据交换，控制器的另一端与机械臂相连并控制机械臂进行补偿运动。
一种上述的波浪补偿机器人系统的控制方法，其创新点在于：具体步骤如下：
S1：首先运用惯导实时检测出由于风浪引起的船舶甲板的变化数据，将船舶夹板变化数据通过RS232转以太网模块输出；
S2：通过交换机建立的局域网将惯导发送出来的数据传送到PC中；
S3：在PC中通过软件对收到的数据进行处理，并且利用处理好的数据编译跟踪基座标程序和控制算法进行补偿；
S4：将编译好的程序通过局域网下载到控制器中，在示教器中编译运动指令；
S5：将控制器和示教器中的程序与命令相互结合后，共同控制机械臂运动，对机械臂末端进行补偿，使其能够平稳的运送物资。
进一步的，所述S1中的惯导能够实时检测出横摇、纵摇的角度，横荡、纵荡和升沉的距离，横荡、纵荡和升沉的速度。
进一步的，所述S3中跟踪基座标是将惯导中检测出来基座标和世界坐标的偏移量找出来，通过编程实现将输入的新值不断覆盖旧值 再配合控制器底层的算法实现跟踪基座标，再进行纠偏基座标，实现基座标和世界坐标系的重合，保证即使机械臂的基座在运动，末端执行器也能够平稳的运送补给物资。
进一步的，控制算法运用的是模糊PID控制，运用模糊数学的基本理论和方法，把规则的条件、操作用模糊集表示，并把这些模糊控制及有关信息作为知识存入计算机知识库中，然后根据控制的实际响应情况，运用模糊数实现对PID参数的最佳调整。
本发明的优点在于：
1)本发明装置中采用的机械臂与普通的吊机等物资补偿装置相比较，具有结构简单、紧凑、方便维护、可补偿方向多、精度高和方便操作等优点。
2)本发明装置中采用的机械臂与运用钢丝绳等进行物资补给的系统相比较，具有精度高、可靠性强和增加操作人员安全性等优点。
3)本发明装置中的控制方法新颖，不需要进入底层进行开发。在二次开发的情况下可以达到目的，与底层开发的工作量相比，工作量更小，实现效果更好。
4)本发明装置和控制方法适用于大多数串联结构机械臂，不具有某一品牌和型号的局限性，适用范围广。控制方法新颖，算法简单，补偿效果好。
附图说明
下面结合附图和具体实施方式对本发明作进一步详细的说明。
图1为本发明的一种波浪补偿机器人系统的整体结构示意图。
图2为本发明的一种波浪补偿机器人控制方法的硬件系统流程图。
图3为本发明的一种波浪补偿机器人控制方法的跟踪基座标原理图。
图4为本发明的一种波浪补偿机器人控制方法的模糊PID控制系统模糊规则运行流程图。
图5为本发明的一种波浪补偿机器人控制方法的流程图。
具体实施方式
下面的实施例可以使本专业的技术人员更全面地理解本发明，但并不因此将本发明限制在所述的实施例范围之中。
如图1所示的一种波浪补偿机器人系统，该波浪补偿机器人系统整体是安装在船舶甲板上；该系统由机械臂主体1、惯导2、RS232转以太网模块3、交换机4、PC5、控制器6、示教器7组成。机械臂主体1通过螺栓固连在船舶甲板上，用于运送补给物资；根据惯导2的安装要求和使用方法，通过螺栓将惯导2固连在船舶甲板上，靠近机械臂主体1的基座；惯导2可以实时检测出风浪引起的船舶姿态的变化，同时转换后也是机械臂主体1的基座标的变换；RS232转以太网模块3通过螺栓固连在船舶甲板上，一端通过DB9针的串口线与惯导2相连，另一端通过网线与交换机4相连；交换机4通过网线与RS232转换模块3、PC5、控制器6以及示教器7相连接，从而构成一个局域网；PC5接收惯导2发送的数据后进行编译和处理，再通过软件进行编译跟踪基座标程序和控制算法进行补偿，最后将编译好的程 序下载到控制器6中；控制器6中有机械臂底层的控制算法能够自动规划路径，控制机械臂主体1进行运动；示教器7编写移动指令和控制器6需要共同使用对机械臂主体1进行波浪补偿控制。
图2为硬件系统流程图；惯导2检测船舶甲板在风浪条件下的运动状态，并且实时发送数据；惯导2的端口是RS232端口，为了读取数据需要使用RS232转以太网模块3进行更好的传送；交换机4将整个系统建立起一个局域网，便于局域网中的数据传送；RS232转以太网模块3、PC5、控制器6和示教器7均通过网线与交换机相连接；通过PC5对数据进行处理和程序的编译，将编译好的程序下载到控制器6中，最后通过控制器6和示教器7共同控制机械臂主体1进行物资补给的运送。
图3为波浪补偿功能的机器人系统的跟踪基座标原理图。在船舶没有受到风浪影响的情况下，机械臂的基座标系和世界坐标系是重合的，即坐标系XYZ；当船舶在作业过程中受到风浪影响之后，由于甲板的晃动和摇摆，基坐标系X’Y’Z’和世界坐标系XYZ的原点O和O’重合，其余部分将不再重合；通过惯导2检测到的数据串，我们通过软件提取该数据串中需要使用的数据；这些数据是基座标和世界坐标的角度偏移量或者位置偏移量，将需要进行补偿方向的数据提取出来，以控制器6能够识别的格式不断发送给控制器；控制器6中将实时收到基座标与世界坐标系的变化量，将这些变化量取反即为基座标需要补偿的变化量。
图4为模糊PID控制系统模糊规则运行流程图；模糊控制通过模 糊逻辑和近似推理方法，用计算机把人的经验形式化、模型化，根据给定的语言控制规则进行模糊推理，给出模糊输出判决，并将其转化为精确量，将反馈送到被控对象。用系统输出的偏差e和输出偏差变化率ec作为输入信息，把控制量的变化作为控制器的输出量。PC根据采样得到的e和ec通过查询控制规则表求得控制量，馈送到控制对象实现过程的模糊控制。误差e和误差变化率ec的论域分别为e＝{-6,-5,-4,-3,-2,-1,-0,+0,1,2,3,4,5,6}ec＝{-6,-5,-4,-3,-2,-1,0,1,2,3,4,5,6}选取误差e和误差变化率ec的语言变量值分别为e＝{NB,NM,NS,NZ,PZ,PS,PM,PB}
ec＝{NB,NM,NS,Z,PS,PM,PB}误差e和误差变化率ec变化定义方位定义为模糊集上的论域：e,ec＝{-5,-4,-3,-2,-1,0,1,2,3,4,5}其模糊子集为e,ec＝{NB,NM,NS,O,PS,PM,PB}，元素分别代表负大、负中、负小、零、正小、正中、正大。设Kp、KI、KD服从正态分布，可以得到各模糊子集的隶属度，再根据隶属度数值表和各参数模糊控制模型，应用模糊合成理论设计PID参数的模糊矩阵表，查出修正参数，最后带入以下公式中
KP＝KP'+{ei,eci}P
KI＝KI'+{ei,eci}I
KD＝KD'+{ei,eci}D
通过查表和运算完成对PID参数的自校正工作。
图5为波浪补偿控制方法流程图；首先运用惯导2检测出由于风浪引起的船舶甲板的运动状态；然后，将数据传送给PC5，在PC5中 对数据串进行提取和处理；接着，在PC5中的软件里运用提取出来的数据编译跟踪基座标和模糊PID控制算法；编译完成之后，在没有错误的情况下，将这些程序通过网线下载到控制器6中；下一步，在示教器7中编译运动指令。例如，想运用机械臂将补给物资以直线的方式从补给船运送出去，那么需要在示教器7中编辑直线命令和运用相对参考系等命；最后，结合控制器6中的程序和示教器7中的命令共同控制机械臂主体1完成物资补给工作。
本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (5)

  1. 一种波浪补偿机器人系统，该系统安装在船舶的甲板；其特征在于：包括机械臂、控制器、示教器、惯导、PC、交换机和RS232转以太网模块；
    所述机械臂通过螺栓固定在船舶甲板上；所述惯导通过螺栓固定连接在机械臂旁的船舶甲板上，用来实时检测船舶所受风浪影响后的状态；所述RS232转以太网模块通过螺栓固连在惯导旁船舶甲板上，RS232转以太网模块与惯导的输出端口通过数据线相连；
    所述交换机在甲板通过数据线与各部件相连建立局域网用于传送数据；所述PC接收惯导输出的数据，进行数据处理、编译跟踪基座标程序和控制算法进行补偿，将编译好的程序下载到控制器；所述示教器和控制器配合对机械臂进行控制；所述控制器的一端与计算机进行数据交换，控制器的另一端与机械臂相连并控制机械臂进行补偿运动。
  2. 一种权利要求1所述的波浪补偿机器人系统的控制方法，其特征在于：具体步骤如下：
    S1：首先运用惯导实时检测出由于风浪引起的船舶甲板的变化数据，将船舶夹板变化数据通过RS232转以太网模块输出；
    S2：通过交换机建立的局域网将惯导发送出来的数据传送到PC中；
    S3：在PC中通过软件对收到的数据进行处理，并且利用处理好的数据编译跟踪基座标程序和控制算法进行补偿；
    S4：将编译好的程序通过局域网下载到控制器中，在示教器中编译运 动指令；
    S5：将控制器和示教器中的程序与命令相互结合后，共同控制机械臂运动，对机械臂末端进行补偿，使其能够平稳的运送物资。
  3. 根据权利要求2所述的一种波浪补偿机器人系统的控制方法，其特征在于：所述S1中的惯导能够实时检测出横摇、纵摇的角度，横荡、纵荡和升沉的距离，横荡、纵荡和升沉的速度。
  4. 根据权利要求2所述的一种波浪补偿机器人系统的控制方法，其特征在于：所述S3中跟踪基座标是将惯导中检测出来基座标和世界坐标的偏移量找出来，通过编程实现将输入的新值不断覆盖旧值再配合控制器底层的算法实现跟踪基座标，再进行纠偏基座标，实现基座标和世界坐标系的重合，保证即使机械臂的基座在运动，末端执行器也能够平稳的运送补给物资。
  5. 根据权利要求2所述的一种波浪补偿机器人系统的控制方法，其特征在于：控制算法运用的是模糊PID控制，运用模糊数学的基本理论和方法，把规则的条件、操作用模糊集表示，并把这些模糊控制及有关信息作为知识存入计算机知识库中，然后根据控制的实际响应情况，运用模糊数实现对PID参数的最佳调整。
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