novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»novtexmech-45Research ArticleРОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOTIC SYSTEMSМетод супервизорного управления манипулятором подводного роботаA Supervisory Control Method for Manipulator Mounted on Underwater RobotФиларетовВ. Ф.FilaretovV. F.filaretov@inbox.ruКоноплинА. Ю.KonoplinA. Yu.konoplin@marine.febras.ruКоноплинН. Ю.KonoplinN. Yu.konoplin.nikita@gmail.comИнститут автоматики и процессов управления ДВО РАН, Владивосток; Дальневосточный федеральный университетРоссияInstitute of Automation and Control Processes; Far Eastern Federal UniversitRussian FederationИнститут проблем морских технологий ДВО РАН, Владивосток; Дальневосточный федеральный университетРоссияInstitute of Marine Technology Problems; Far Eastern Federal UniversitRussian Federation2018230820181929599Copyright © Commercial Publisher «New Technologies», 20182018Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/45

Рассмотрен новый метод супервизорного выполнения манипуляционных операций многозвенными манипуляторами, установленными на подводных роботах. Этот метод предполагает построение математических моделей объектов работ с помощью бортовых гидроакустических сонаров, формирование целевых точек и сложных пространственных траекторий рабочих органов манипуляторов с помощью управляемой оператором телекамеры, изменяющей пространственную ориентацию своей оптической оси.

At present, the underwater vehicles equipped with multilink manipulators are used to perform a wide range of survey, technological and research operations in the depths of the world ocean. But in most cases, said manipulation operations are performed in a manual mode with help of the specially trained operators of the underwater vehicles. Based on their experience and knowledge, these operators plan the trajectories of working tools of underwater manipulators. However, it is very difficult for the operator to quickly and accurately solve manipulation tasks without direct contact with the working object and identifying the location of this object of work with help of video images. This leads to the performance decreasing of his work and to the probability increasing of the errors. The work proposes the new method for the supervisory implementation of manipulative operations by means of multilink manipulators mounted on underwater vehicles. This method involves the construction of mathematical models of objects of work with the help of on-board sonars. Herewith, the formation of target points and spatial trajectories of the manipulator's working tools is carried out by means of the targeting of the optical axis of the camera taking into account the requirements for the implementation of specific technological operations. The developed method can be used to perform many underwater manipulation operations in the supervisory mode.

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The authors declare that there are no conflicts of interest present.