【摘要】 针对一种养殖网箱水下清洗机器人，分析了清洗机器人的系统组成和控制原理，提出了其运动控制方法，通过两台操纵手柄之间的配合来完成清洗机器人位姿控制。对清洗机器人水面、水下控制系统涉及的串行口通信和以太网通信问题分别进行了分析，在Python环境下利用第三方库函数解决了水面、水下控制系统之间的通信问题。对清洗机器人控制系统软件设计部分提出了设计要点并给出了解决办法。基于以上方法开发了机器人实际控制系统。水池试验表明，所开发的清洗机器人控制系统具有控制简单方便、响应快速、水下运行平稳的特点。更多还原

【Abstract】 Aiming at an underwater cleaning robot for aquaculture cages,the paper analyzes the system composition and control principle of the cleaning robot,a motion control method of the cleaning robot is presented.We can control the position and the pose of the cleaning robot through the cooperation between the joysticks.The serial port communication and Ethernet communication problems in the surface and underwater control system of the cleaning robot are analyzed respectively.The communication problem between the surface and underwater control system is solved by using the Third Party Library of Python.For a part of the software design of the cleaning robot control system,the key points and the solutions are given.Based on the above methods,the actual control system of the cleaning robot is developed.The pool test shows that the developed control system has the characteristics of simple and convenient control,quick response and stable running underwater.更多还原