水下柔性机械臂实现精准控制与抗干扰，可安全完成深海检测任务。
Closed-Loop Control and Disturbance Mitigation of an Underwater Multi-Segment Continuum Manipulator
- 采用闭环控制与状态估计算法，实现末端位置与姿态的精确追踪。
- 在水下受力达300克时，位移偏差小于全长5%，角度误差低于5°。
- 适用于深海复杂环境下的非接触式检测，适合替代传统刚性机械臂。
软体柔性机械臂在海洋环境中用于海底检测具有显著优势，因其能安全贴合物体并适应复杂空间。本文针对一米长的柔性机械臂原型，分析了其机械设计、状态估计算法、闭环控制策略及水下实验性能。结果表明，配置空间与任务空间控制器均能将末端执行器定位至目标位置，空间偏差小于全长的5%，姿态角误差在5°以内。该机械臂在承受高达300克负载及随机点扰动时，仍能有效抑制位移并恢复预定构型。本研究为柔性机械臂在真实海洋环境中的应用提供了关键进展，证明其可作为传统刚性结构的可行替代方案。
原文摘要 · Abstract (English)
The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However, limitations driven by material characteristics often restrict the reach of such devices, with the complexity of obtaining state estimations making control non-trivial. Here, a detailed analysis of a 1m long compliant manipulator prototype for subsea inspection tasks is presented, including its mechanical design, state estimation technique, closed-loop control strategies, and experimental performance evaluation in underwater conditions. Results indicate that both the configuration-space and task-space controllers implemented are capable of positioning the end effector to desired locations, with deviations of <5% of the manipulator length spatially and to within 5^{o} of the desired configuration angles. The manipulator was also tested when subjected to various disturbances, such as loads of up to 300g and random point disturbances, and was proven to be able to limit displacement and restore the desired configuration. This work is a significant step towards the implementation of compliant manipulators in real-world subsea environments, proving their potential as an alternative to classical rigid-link designs.
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