水下蛇形机器人建模与运动控制
Modeling and Motion Control of Underwater Snake Robot
李佩娟 1杨刚 1郭铁铮 1鲁洋1
作者信息
- 1. 南京工程学院工程训练中心/应用技术学院,江苏 南京,211167
- 折叠
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.
Abstract
To address the autonomous swimming difficulty of an underwater snake robot in a complex underwater environment,this study designed an underwater snake robot mechanism.A kinematic model was established based on the snake motion mechanism,and a motion control method based on fuzzy control and a central pattern generator(CPG)was proposed.The CPG model was constructed by several Hopf oscillators with double-coupled chain network structure after the stability analysis of the limit cycle in a single Hopf oscillator model,and a fuzzy controller and the CPG model were introduced to form a closed-loop control network.The simulation and experiment of an underwater snake robot were carried out.The prototype can complete the experiments of linear meandering movement,left and right turning movement,and U-shaped movement.The experimental results show that the underwater snake robot not only has good stability but also can maintain superior flexibility and maneuverability in the three motion modes.
关键词
水下蛇形机器人/模糊控制器/中枢模式生成/运动控制Key words
underwater snake robot/fuzzy controller/central pattern generator/motion control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据