METHOD FOR CONTROLLING A MULTI-LINK MANIPULATOR OF AN UNINHABITED UNDERWATER VEHICLE FOR PERFORMING MANIPULATION OPERATIONS WITH UNDERWATER OBJECTS Russian patent published in 2022 - IPC B25J13/08 

FIELD: robotics.

SUBSTANCE: invention relates to the field of robotics and can be used to control multi-link manipulators installed on underwater vehicles to perform operations with underwater objects by means of a working tool installed on the manipulator. The method includes determining the location and spatial orientation of an underwater object by combining an object surface model in the form of a point cloud obtained using onboard vision systems (OVS) with an object surface model in the form of a point cloud built on the basis of a given initial three-dimensional model of this object, forming corresponding trajectory and orientation vector of the working tool of the manipulator and testing them by the manipulator drive control systems. At the same time, from the point cloud built on the basis of a given initial model of the object, points that are invisible to the OVS in the current spatial location of the object are excluded, the trajectory of the working tool and its orientation vector are transferred to the underwater object, and in the case of performing operations with a silty or deformed object, the indicated the trajectory and the orientation vector are projected onto the triangulation surface of the object, built on the basis of the model in the form of a cloud of points obtained using the OVS.

EFFECT: use of the invention makes it possible to increase the accuracy of the formation of the trajectory of the movement of the working tool of the manipulator when working with underwater objects.

1 cl, 4 dwg