FIELD: robotics.
SUBSTANCE: invention can be used to create control systems for autonomous uninhabited underwater vehicles (AUVs) with multi-stage manipulators (MM). For position-force control of an autonomous uninhabited underwater vehicle with a multi-stage manipulator in the mode of its hovering and preliminary stabilization, before the start of force operations with the object, taking into account the linear displacements of the underwater vehicle in space, determined by the technical vision system, and its angular displacements, determined by on-board gyroscopic sensors, variable desired values and directions of force effects exerted by the working body of the manipulator are set, the base of which is fixed under the centre of magnitude of the underwater vehicle. The object at each point of the trajectory of the movement of the operating body of the manipulator is formed using a 3D model of this object, whereas the inputs of the corresponding propellers of the underwater vehicle are supplied with control signals that reduce its deviations from the initial position when the manipulator moves in a viscous medium.
EFFECT: consistently accurate automatic performance of various technological operations by the AUV manipulator, requiring precise force interaction of the operating body (OB) of the MM with underwater objects.
1 cl, 1 dwg
