Research on coordinated control for the floating body and mining robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Research on coordinated control for the floating body and mining robot
	Feng YB(冯迎宾); Li ZG(李智刚); He Z(何震); Wang XH(王晓辉); Zhang QF(张奇峰)
	2016
会议名称	OCEANS 2016 MTS/IEEE Monterey
会议日期	September 19-23, 2016
会议地点	Monterey, Canada
关键词	mining robot UKF potential energy function LaSalle's invariance principle
页码	1-4
通讯作者	冯迎宾
中文摘要	The mining robot, which has a large size and weight, is easy to slip and sink during the mining process. For this problem, we propose hydraulic station suspension technology in this paper. By using the technology, the hydraulic station is separated from the mining robot and designed as an independent floating body, which is helpful for increasing the travelling capability of mining robot. The relative position between the floating body and mining robot can be obtained by UKF. Based on this, we study a coordinated control algorithm for the floating body and mining robot in this paper. The coordinate motion controller, whose convergence is proved by LaSalle's invariance principle, is designed according to the potential energy function of the floating body and mining robot. The algorithm is tested by using MATLAB. The results show that the coordination control algorithm can maintain the relative positions between the floating body and mining robot and make them do coordinate motion, which can be free from the effect of ocean current.
收录类别	EI
产权排序	1
会议录	OCEANS 2016 MTS/IEEE Monterey
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5090-1527-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19690]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Feng YB,Li ZG,He Z,et al. Research on coordinated control for the floating body and mining robot[C]. 见:OCEANS 2016 MTS/IEEE Monterey. Monterey, Canada. September 19-23, 2016.