A Supervisory Control Method for Manipulator Mounted on Underwater Robot

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.

супервизорное управление, подводный робот, многозвенный манипулятор, облако точек, математическая модель, глубоководные исследования, пространственная траектория, подводные операции, система управления, supervisory implementation, underwater robot, multilink manipulator, point cloud, underwater operations, spatial trajectory, mathematical model, deep-sea research, control system

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