Research on Modeling and Motion Control Simulation Method of Cylindrical Manipulator for Seafloor Drill

As the key equipment of deep-sea exploration, the operation performance of the seafloor drill is determined by the cylindrical manipulator. The control accuracy of the manipulator is directly related to the success or failure and efficiency of the operation. In order to realize the high-precision control of the manipulator in the complex deep-sea environment, this study proposes a complete set of modeling and motion control simulation methods. Firstly, based on the D-H parameter method, the linkage coordinate system and structural model of the manipulator are established, and then the forward and inverse kinematics equations are derived, which completely characterizes the mapping relationship between the pose of the end effector and the joint variables. On this basis, the dynamic model of the manipulator is constructed by combining the Lagrange method, so as to more accurately describe the dynamic characteristics of the system under stress. Finally, through the integration of kinematics and dynamics models, the motion control simulation is carried out by using MATLAB Robotics Toolbox, and the visual observation and analysis of the manipulator ‘s pose and motion trajectory are realized. This study provides a solid theoretical model and an effective simulation verification platform for the high-precision control, algorithm development and performance optimization of the cylindrical manipulator of the seafloor drill.