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本文探讨了海洋机器人的有关数学模型,坐标系的建立、描述方法、驱动方案、某些参数的闭环控制及其发展趋势等。 海洋资源是近三十年来许多国家争夺的主要对象。陆地资源的开发已有悠久历史,过去人类赖以生存的资源,主要来之于陆地。但陆地某些资源的开发和利用已接近尾声,据有关资料报导,陆地石油的开发可能只有几十年即将采尽。人类必须寻找新的资源产地,这就是海洋。那里有供几十亿人口生存的蛋白质和多种丰富的矿藏。 开发海洋有很大的难度,这个领域不适于人的直接生存,要想开发与征服海洋,必须借助于专用的工具,即海洋机器人。海洋深处的秘密人们还知道得很少,现正以各种技术手段进行探测。
In this paper, we discuss the mathematical models of marine robots, the establishment and description of coordinate systems, the driving schemes, the closed-loop control of some parameters and their development trends. Marine resources are the main targets of many countries' victories in the past 30 years. The development of terrestrial resources has a long history. In the past, the resources on which human beings depend for survival mainly come from land. However, the development and utilization of certain resources on land are drawing to a close. According to relevant information, the development of onshore oil may only be exhausted in a few decades. Mankind must find new sources of origin, this is the ocean. There are proteins and rich mineral deposits for billions of people. It is very difficult to develop the sea. This area is not suitable for the direct survival of mankind. To develop and conquer the sea, we must resort to special tools such as marine robots. Secret people in the depths of the ocean also know very little, are now using various technical means to detect.