Self-adaptive anti-noise motion control method for underwater mechanical arm based on pseudo-inverse description

The invention relates to an underwater mechanical arm self-adaptive anti-noise motion control method based on pseudo-inverse description, which comprises the following steps of: constructing a self-adaptive dynamic model by adopting an internal model principle according to harmonic noise with known/given frequency, and automatically generating a harmonic signal; based on the self-adaptive dynamic model, combining with the actual demand of the tail end trajectory planning of the underwater mechanical arm, introducing the feedback of the tail end position error, and determining a self-adaptive anti-noise motion control scheme based on pseudo-inverse description; and a lower computer controller is used for driving all joints of the underwater mechanical arm according to the calculation result of the self-adaptive anti-noise motion control scheme, and a given tail end operation task is completed. Compared with the prior art, the amplitude and phase information of the harmonic noise can be adaptively estimated onl