水下机器人-机械手系统研究进展：结构、建模与控制

doi:10.3901/JME.2020.19.053

摘要/Abstract

摘要： 水下机器人-机械手系统（Underwater vehicle-manipulator systems，UVMS）可以完成除观测之外的水下采样、抓取、操作等任务，在海洋科学考察、海洋工程等领域得到广泛应用。通过对近年来国内外UVMS的研究现状进行综述，介绍了不同的UVMS本体结构与机械手构型，总结了UVMS的运动学、动力学和水动力学的建模方法，分析了人机交互式遥控操作控制方式，针对UVMS的自主控制中的运动规划、位置与轨迹跟踪、独立与协调控制、运动补偿控制、力/位置混合控制、视觉伺服控制等问题做了分类阐述。最后总结并对UVMS未来发展方向进行了展望，以期为相关研究人员提供参考。

关键词: 水下机器人-机械手系统, 构型, 水动力学, 人机交互, 自主控制

Abstract: Underwater vehicle-manipulator systems (UVMS) can fulfill underwater sampling, grabbing, operation and other tasks in addition to observation. It is widely used in marine scientific investigations, marine engineering and other fields. The state of the art of UVMS is reviewed. Different configurations of vehicles and manipulator in UVMS are introduced, and the kinematics, dynamics and hydrodynamics modeling method of UVMS are summarized. Then the teleoperation control of human-machine interaction is analyzed. In the autonomous control of UVMS, motion planning, position and trajectory tracking, independent and coordinated control, motion compensation control, position/force hybrid control, visual servo control and other issues are classified and summarized. Finally, the conclusion is given and the future trend of UVMS is discussed, it can provide a reference for relevant researchers.

Key words: underwater vehicle-manipulator systems, configuration, hydrodynamics, human-computer interaction, autonomous control

中图分类号:

TH113
TP24

常宗瑜, 张扬, 郑方圆, 郑中强, 王吉亮. 水下机器人-机械手系统研究进展：结构、建模与控制[J]. 机械工程学报, 2020, 56(19): 53-69.

CHANG Zongyu, ZHANG Yang, ZHENG Fangyuan, ZHENG Zhongqiang, WANG Jiliang. Research Progress of Underwater Vehicle-manipulator Systems: Configuration, Modeling and Control[J]. Journal of Mechanical Engineering, 2020, 56(19): 53-69.

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