关键词: 水下机械手；小脑模型关节控制器；动力学模型；水动力

Abstract:

Underwater manipulator is an altitudinal non-linear and rigidify-coupling system working under very complex conditions and is effected easily.The dynamics model of underwater manipulator based on the wave force was constructed;one composited control method based on CMAC and PID was designed,thus the underwater manipulator had the ability of on-line self-learning and was adapted to the underwater condition;at last,one simulation of multiplex-athletics control of underwater manipulator was experimented using MATLAB/Simulink.According to the results of the simulation,the control method and dynamics model can be used to research multiplex-athletics control of underwater manipulator.

Key words: underwater manipulator;cerebellar model arithmetic controller(CMAC), dynamics model;wave forces