王轶群, 田启岩, 陆洋, 李硕, 李智刚, 张奇峰, 刘鑫宇. 面向北京2022年冬奥会水下火炬传递的新型机器人[J]. 机器人, 2022, 44(5): 538-545. DOI: 10.13973/j.cnki.robot.220161
引用本文: 王轶群, 田启岩, 陆洋, 李硕, 李智刚, 张奇峰, 刘鑫宇. 面向北京2022年冬奥会水下火炬传递的新型机器人[J]. 机器人, 2022, 44(5): 538-545. DOI: 10.13973/j.cnki.robot.220161
WANG Yiqun, TIAN Qiyan, LU Yang, LI Shuo, LI Zhigang, ZHANG Qifen, LIU Xinyu. The New Robots for Underwater Torch Relay at the Beijing 2022 Winter Olympic Games[J]. ROBOT, 2022, 44(5): 538-545. DOI: 10.13973/j.cnki.robot.220161
Citation: WANG Yiqun, TIAN Qiyan, LU Yang, LI Shuo, LI Zhigang, ZHANG Qifen, LIU Xinyu. The New Robots for Underwater Torch Relay at the Beijing 2022 Winter Olympic Games[J]. ROBOT, 2022, 44(5): 538-545. DOI: 10.13973/j.cnki.robot.220161

面向北京2022年冬奥会水下火炬传递的新型机器人

The New Robots for Underwater Torch Relay at the Beijing 2022 Winter Olympic Games

  • 摘要: 面向北京2022年冬奥会水下火炬传递应用需求,设计水下变结构机器人和两栖机器人,并提出水下火炬传递控制方法。克服机械臂(含火炬)运动和野外流场的复合扰动是火炬传递控制的关键问题,尤其是手持燃烧火炬的机械臂对浮游模式水下机器人的影响更加显著。针对以上问题,本文提出一种基于自适应控制策略的水下火炬传递控制方法,在线辨识静力学和流场水动力参数,预先补偿控制扰动,实现水下机器人的高精度姿态控制、位置控制。最终,在北京2022年冬奥会上成功完成奥运史上首次机器人间水下火炬接力。

     

    Abstract: For the underwater torch relay at the Beijing 2022 Winter Olympic Games, an underwater variable structure robot (VSR) and an amphibious robot (AR) are designed, and the control scheme for the underwater torch relay is proposed. It is an important issue in torch relay control to compensate the composite disturbance caused by robotic arms (including torches) motion and environmental current, and a robotic arm with a burning torch will produce more significant influence on the free-floating UUV (unmanned underwater vehicle). To above concerns, a control method for underwater torch relay based on adaptive control strategy is proposed, which identifies statics and current hydrodynamic parameters online, compensates the control disturbance in advance to achieve high-precision attitude and position control for UUV. Finally, the underwater torch relay between robots is achieved for the first time in the Olympic Games history at the Beijing 2022 Winter Olympic Games.

     

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