METHOD FOR STABILIZING AUTONOMOUS UNMANNED UNDERWATER VEHICLE IN HOVERING MODE WHEN PERFORMING CONTACT OPERATIONS WITH UNDERWATER OBJECTS BY INSTALLED ON IT MULTI-LINK MANIPULATOR Russian patent published in 2024 - IPC G05B13/02 B63G8/00 B25J13/00 

FIELD: robotics.

SUBSTANCE: invention relates to robotics and can be used for stabilization of autonomous underwater vehicle (AUV) during performance of contact operations with underwater objects installed on it. Method includes automatic generation of control signals, which are supplied to inputs of corresponding propellers AUV, including additional propulsor, which is installed above centre of displacement of AUV on rotary platform, which changes direction of thrust vector of this propulsor. Also, control signals of the rotary platform engine are generated automatically, which sets the spatial orientation of the thrust vector of the additional propulsion unit. Said control signals are generated on the basis of values and directions of force and moment vectors, which are calculated in real time, acting on AUV from the side of the multi-link manipulator performing contact power operation with the object of work. By means of thrusts created by AUV propellers, force and moment effects on AUV from the side of the operating manipulator are compensated and stabilization of AUV is provided in the hovering mode.

EFFECT: use of the invention increases accuracy of AUV stabilization in hovering mode when performing power manipulation operations.

1 cl, 1 dwg