Underwater robot gravity center auxiliary adjusting system and control method
The invention relates to an underwater robot gravity center auxiliary adjusting system and a control method. A posture detection system is used for detecting a posture of an underwater robot body; anunderwater robot motion information input module is used for detecting motion control information of...
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| creator | WANG WENJIE WANG ANQI ZHAO YANFENG XU LIXUE WEI YANHUI HAO SHENGGONG ZHU QIANG LIU JING WANG YONGHAI TIAN CHENGUANG |
| description | The invention relates to an underwater robot gravity center auxiliary adjusting system and a control method. A posture detection system is used for detecting a posture of an underwater robot body; anunderwater robot motion information input module is used for detecting motion control information of the underwater robot body and motion control information of an underwater mechanical arm which is carried on the underwater robot body; an adjusting motion controller derives gravity center change tendency and size of an underwater mechanical arm according to longitudinal inclination posture information of the underwater robot, motion control information of the underwater robot and motion control information of the underwater mechanical arm and controls a screw-slide block mechanism and adjuststhe gravity center of the underwater robot; and the screw-slide block mechanism is an executing mechanism of the gravity center auxiliary adjusting system. According to the underwater robot gravity center auxiliary adjusting |
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A posture detection system is used for detecting a posture of an underwater robot body; anunderwater robot motion information input module is used for detecting motion control information of the underwater robot body and motion control information of an underwater mechanical arm which is carried on the underwater robot body; an adjusting motion controller derives gravity center change tendency and size of an underwater mechanical arm according to longitudinal inclination posture information of the underwater robot, motion control information of the underwater robot and motion control information of the underwater mechanical arm and controls a screw-slide block mechanism and adjuststhe gravity center of the underwater robot; and the screw-slide block mechanism is an executing mechanism of the gravity center auxiliary adjusting system. 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A posture detection system is used for detecting a posture of an underwater robot body; anunderwater robot motion information input module is used for detecting motion control information of the underwater robot body and motion control information of an underwater mechanical arm which is carried on the underwater robot body; an adjusting motion controller derives gravity center change tendency and size of an underwater mechanical arm according to longitudinal inclination posture information of the underwater robot, motion control information of the underwater robot and motion control information of the underwater mechanical arm and controls a screw-slide block mechanism and adjuststhe gravity center of the underwater robot; and the screw-slide block mechanism is an executing mechanism of the gravity center auxiliary adjusting system. According to the underwater robot gravity center auxiliary adjusting</abstract><oa>free_for_read</oa></addata></record> |
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| language | chi ; eng |
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| subjects | AIRCRAFT CARRIERS EQUIPMENT FOR DWELLING OR WORKING UNDER WATER LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS LIFE-SAVING IN WATER MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS MINE-LAYING MINE-SWEEPING OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS PERFORMING OPERATIONS RELATED EQUIPMENT SHIPS OR OTHER WATERBORNE VESSELS SUBMARINES TRANSPORTING |
| title | Underwater robot gravity center auxiliary adjusting system and control method |
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