Synchronous control method and equipment for underwater double-arm manipulator with limited joint space

The invention relates to a synchronous control method and device for underwater double-arm manipulators with limited joint space, and the method comprises the following steps: employing a D-H parameter method to carry out the modeling of two underwater manipulators, and based on the physical limit of manipulator joints, solving a problem of the synchronous planning of the underwater manipulators under the condition of limited space, constructing a time-varying nonlinear equation with a constraint condition; based on a time-varying nonlinear equation, constructing a time-varying synchronous planning model based on pseudo-inverse description by introducing a non-negative time-varying vector and utilizing a neurodynamics design formula; performing discretization processing on the time-varying synchronous planning model by using a difference formula to obtain a discrete synchronous planning model; and performing synchronous control on the underwater double-arm manipulator by using the discrete synchronous plannin