Study on master-slave deepwater manipulator

摘要

A 6-DOF isomorphic master-slave underwater manipulator for deep-water operation is developed. The hydrodynamic model of the manipulator is established. A master - slave controller based on fuzzy PID control is designed for the strong nonlinearity of the master-slave manipulator. The dsPACE semi-physical simulation platform is used to build the two joint test system of the master-slave manipulator to verify the real-time follow-up of the master-slave and lay the foundation for the control of the underwater manipulator. The experimental results show that the shape of the master and slave joints follow the process, and the trajectories are the same. It is proved that the fuzzy PID controller can achieve the master-slave trajectory to meet the position servo precision requirements.