水下自重構(gòu)機(jī)器人的自動(dòng)對(duì)接控制及步態(tài)規(guī)劃.pdf

1、上海交通大學(xué)博士后研究工作報(bào)告水下自重構(gòu)機(jī)器人的自動(dòng)對(duì)接控制及步態(tài)規(guī)劃AutomaticDockingControlandGaitGenerationforUnderwaterSelfReconfigurableRobots博士后姓名：李家旺流動(dòng)站(一級(jí)學(xué)科)名稱：船舶與海洋工程專業(yè)(二級(jí)學(xué)科)名稱：研究工作起始時(shí)削2Q!Q生3目!!曰研究工作期滿時(shí)間2Q12生3旦!Q目上海交通大學(xué)(上海)2012年4月博士后研究工作報(bào)告Abstrac

2、tUnderwaterselfreconfigurablerobot(usa)iSanewtypeofunderwaterrobotswhichconsistsofagroupofsimilarintelligentmodulesandcanrealizethereconfigurationoftherobot’SstructureComparedwiththetraditionalunderwaterrobots，USRhassome

3、potentialadvantagessuchasselfmaintainance，versatilityandlOWcost，etc，whichmakesitbecomesanimportantbranchofthefutureunderwaterrobotsThecontrolproblemsincludingdockingbetweenmodulesandgaitgenerationunderacertainconfigurati

4、onarethemostimportantchallengesintheresearchesforMSRMotivatedbythesesomfundamentalresearcheshavebeenmadeforthesecontrolproblemsThemaincontributionsofthisreportareincludedasfollows：Fortheproblemofdockingcontrolbetweentwom

5、odulesofUSR，thedockingmethodsutilizedinthelongrange，themiddlerangeandtheshortrangearebrieflyintroducedForaplanarcase，themiddlerangewhichnavigatedbyopticalsignalsisdiviedintothreeoptimizationsubprocessonsingledegreeoffree

6、domBasedonageometicrelationbetweentheopticalsignalintensityandthedistanceamongthesignalemittersanddetectors，adockingcontrolstrategyhasbeendesignedwiththeanalysisofthedockingerrorsThreedifferentsolversfortherobot’Sinverse

7、kinematicshavebeenintroducedAdynamiccontrollerhasbeenpresentedtealizethedockingbetweentwomodulesInordertodealwiththemodelingparametricuncertainties，anadaptivedockingcontrollerhasbeenderivedTheeffectivenessoftheproposeddo

8、ckingcontrolmethodologyhasbeenvalidatedbymeansofsimulationsFortheproblemofgaitgenerationofUSR，thisreportfocusesontheproblemofgaitplanningandcontr01fortheUSRunderaquadrupedconfigurationAmotionequationhasbeenderivedforther

9、obotconsistingofa91inkmechanismSincetheconstraintsbetweentherobot’Sbodyandthegroundarevaryinginmovingprocess，twokindoffootgroundcontactmodelhavebeenpresentedAdesiredgaitgeneratorconsistingofaCPGmodelandmappingfunctionsha

10、sbeendesignedfortherobotwhichmovinginawalkgaitoratrotgaitAdynamicgaitcontrollerhasbeenalsoproposedThen，agaittransitionschemeandagaitadaptionstrategyhavebeendesignedfortherobotFromthepresentedsimulationresults，onecanseeth