Design of Control System and Human-Robot-Interaction System of Teleoperation Underwater Robot

摘要

In order to meet the urgent need of underwater safety inspection and operating and solve the key problem of difficult control of teleoperation underwater robot, this paper proposes a Human-Robot-Interaction scheme for the independently developed teleoperation underwater robot, and successfully develops this underwater robot and Human-Robot-Interaction system. This paper introduces the general composition, key parameters, control system structure and control algorithm of the robot. And expounds the Human-Robot-Interaction system of the robot which includes three parts: visual interaction, data interaction and manipulator interaction. The visual interaction consists of an onshore monitor and an underwater camera. The data interaction is the premise of the normal operation of the robot. The manipulator interaction is designed to realizing underwater grapping and cutting. The system debugging is normal, and the underwater tests carried out in the pool and Qiandao Lake proved that the entire set of stability, reliability, real-time performance of control system and Human-Robot-Interaction system can achieve the design effect to meet the requirements of teleoperation underwater safety inspection and operating.