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Published in:
2023 | OriginalPaper | Chapter
Control Design to Underwater Robotic Arm
Authors : Jiahong She, Shang Huan, Shaoli Xie, Deli Zhang, Liangliang Han, Jian Yang
Published in: Man-Machine-Environment System Engineering
Publisher: Springer Nature Singapore
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Abstract
Objective. In order to improve the operation ability and response speed of the underwater robotic arm in simulation training mission of space station, this paper focuses on solving the arm’s operability problem. Methods. Based on the man-machine ergonomic characteristics, the control design scheme is proposed from the aspects of control system architecture, motion control and human-computer interaction. Conclusion. The test and application results show that the arm has fine operability. It makes underwater training more efficient. Owing to the approximate function of the space station manipulator, it makes simulation training more realistic. At present, the underwater training missions are successfully completed from SZ–12 to SZ–14. It proves that the control design is reasonable and the goal of good operability has been achieved.