Design and motion control research of underwater snake shaped robot mechanism
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摘要: 针对水下蛇形机器人在复杂水下环境自主游动难问题, 设计了一种水下蛇形机器人机构。基于蛇类运动机理建立运动学模型, 提出一种基于模糊控制和中枢模式生成(CPG)的运动控制方法, 通过对单个Hopf振荡器模型中极限环的稳定性进行分析, 搭建由多个Hopf振荡器构建形成的具有双耦合链条网拓结构的CPG模型, 引入模糊控制器与CPG模型一起构成闭环控制网络。对水下蛇形机器人进行仿真和实验结果表明, 样机可实现直线蜿蜒运动、左右转弯运动和U型运动实验, 在3种运动模式中, 水下蛇形机器人不仅拥有良好的稳定性, 而且能够保持优越的灵活性与机动性。
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关键词:
- 水下蛇形机器人 /
- 模糊控制器 /
- 模糊控制和中枢模式生成模型 /
- 运动控制
Abstract: Aiming at the autonomous swimming difficulty of an underwater snake robot in a complex underwater environment, an underwater snake mechanism was designed. A kinematic model was established based on the snake motion mechanism, and a motion control method based on fuzzy central pattern generator(CPG) was proposed. The CPG model was constructed by several Hopf oscillators with double-coupled chain network structure, and the fuzzy controller and CPG model were introduced to form a closed-loop control network. The simulation and experiment of underwater snake robot were carried out, and the prototype can realize the experiment of linear meandering movement, left and right turning movement and U-shaped movement. The experimental results showed that the underwater snake robot not only has good stability, but also can maintain superior flexibility and maneuverability in the three motion modes. -
图 4 水下蛇形机器人单自由度模块关节
Figure 4. Single degree of freedom module joint of Underwater Snake Robot
图 11
$ \Delta {p}_{i} $ /$ \Delta {\theta }_{i} $ -Z隶属函数Figure 11.
$ \Delta {p}_{i} $ /$ \Delta {\theta }_{i} $ -Z membership function
图 12 水下蛇形机器人模糊CPG控制器整体结构图
Figure 12. The overall structure diagram of the Underwater Snake Robot fuzzy CPG controller
图 14 水下蛇形器人直线蜿蜒运动仿真实验
Figure 14. Underwater Snake Robot linear meandering motion simulation experiment
图 15 水下蛇形机器人转弯运动仿真实验
Figure 15. Underwater Snake Robot turning motion simulation experiment
图 19 蛇形机器人直线蜿蜒运动陀螺仪角度变化曲线
Figure 19. Angle variation diagram of linear winding motion gyroscope
图 21 蛇形机器人转弯运动陀螺仪角度变化曲线
Figure 21. Angle variation diagram of turning motion gyroscope
图 23 水下蛇形机器人U型运动陀螺仪角度变化曲线
Figure 23. U-shaped motion gyroscope angle variation diagram
表 1 模糊控制规则库
Table 1. Fuzzy control rule library
e $ \Delta e $ N Z P
$ \Delta {p}_{i}/\Delta {\theta }_{i} $NB PB PB PB NS PS PS PB ZE PS ZE NS PS NS NS NB PB NB NB NB 
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