【水下飞行器】水下飞行器操控系统UVMS任务优先运动学控制与双重操作附Matlab代码

✅作者简介热爱科研的Matlab仿真开发者擅长毕业设计辅导、数学建模、数据处理、算法改进、程序设计科研仿真。完整代码获取 定制创新 论文复现私信个人信条做科研博学之、审问之、慎思之、明辨之、笃行之是为博学慎思明辨笃行。 内容介绍需执行一系列操作以抵达目标点并着陆随后对目标物体进行操控。首先将飞行器初始化至可测试所有操作步骤的位置接着使用“安全航点导航动作”到达以下坐标位置10.5 37.5 −38 0 −0.06 0.5 ⊤随后着陆并与节点对齐——具体而言飞行器的x轴应与连接飞行器坐标系与节点坐标系的单位向量在惯性水平面上的投影线重合。着陆后执行“基于固定点的操作动作”以抵达目标节点模拟对节点的扫描过程。在此操作阶段飞行器不得因任何原因移动。鉴于飞行器的目标位置可能相对于节点位置不够精确需制定相应方案确保着陆后节点必定位于机械臂的工作范围内。如有需要也可调整飞行器的目标位置以增强系统稳定性并强制触发特定操作例如与节点的距离参数。⛳️ 运行结果 部分代码classdef bimanual_sim handle%Bimanual Simulator for two Franka Emika Manipulators% - Integrates velocities to update the robot state% - Updates transforms via the robot modelpropertiesleft_arm %Instace of arm modelright_arm %Instace of arm modeldt %Simulation time steptime %Current Simulation timemaxSteps %Maximum number of simulation stepsloopCounter %Loop counter for loggingendmethodsfunction obj bimanual_sim(dt,arm_model1,arm_model2,endTime)obj.dt dt;obj.left_arm arm_model1;obj.right_arm arm_model2;obj.time 0;obj.loopCounter 1;obj.maxSteps ceil(endTime/dt);endfunction sim(obj,qdot)% update the state in the robot objectobj.left_arm.qdot qdot(1:7);obj.right_arm.qdot qdot(8:14);% Integrate manipulator jointsobj.left_arm.q obj.left_arm.q obj.left_arm.qdot*obj.dt;obj.right_arm.q obj.right_arm.q obj.right_arm.qdot*obj.dt;% increment time and loop counterobj.time obj.time obj.dt;obj.loopCounter obj.loopCounter 1;endfunction update_full_kinematics(obj)%Compute forward and differential kinematics for both arms,%considering the current mission phaseobj.left_arm.update_transform()obj.right_arm.update_transform()obj.left_arm.update_jacobian()obj.right_arm.update_jacobian()endendend 参考文献[10]E. Simetti and G. Casalino,A novel practical technique to integrate inequality control objectives and task transitions in priority based control,Journal of Intelligent Robotic Systems, vol. 84, no. 1, pp. 877–902, 2016.https://doi.org/10.1007/s10846-016-0363-4[11]E. Simetti, G. Casalino, F. Wanderlingh, and M. Aicardi,Task priority control of underwater intervention systems: Theory and applications,Ocean Engineering, vol. 164, pp. 40–54, 2018.Redirecting更多免费数学建模和仿真教程关注领取