Underwater robots pose control method
暂无分享,去创建一个
The invention provides an underwater robot pose control method. The method comprises the steps that the balanced structural design is adopted, modeling is carried out on a symmetric frame structure, and a pitch angle, a rolling angle and a yaw angle of the pose of a robot are measured through a sensor; subtraction is carried out on expected values and values of the pitch angle, the rolling angle and the yaw angle to obtain errors, the errors are adjusted through the PID algorithm, and a motor is controlled to keep the pose balanced. According to the underwater robot pose control method, the robot can have stability of the pose capable of resisting environmental disturbance underwater, and it is ensured that the robot can smoothly complete delicate and complex work.