中文摘要：

为减小机械手的运动对水下机器人-机械手系统（UVMS）悬停抓取造成的影响,以SY-Ⅱ型UVMS为平台,针对其系统结构建立了一套基于模型的协调运动控制方法.根据牛顿-欧拉反向递推算法建立了包含因机械手运动引起的耦合力和恢复力的扰动力模型.将全局运动学控制律和基于扰动力模型建立的动力学控制律相结合构造了具体的协调运动控制器,通过该方法对影响机器人姿态的扰动力进行估计和补偿.在SY-Ⅱ型UVMS上进行了协调控制方法与S面控制方法的对比实验,结果表明：相比于S面方法,所构造的协调运动控制方法通过对姿态误差的实时估计和补偿,基本保持了姿态的稳定,证明了该控制方法的优越性.

英文摘要：

The motion of manipulator will cause a certain influence while underwater vehicle manipula- tor system （UVMS） hovering, to reduce the impacts, a model based coordinate motion control meth- od was proposed based on the unique system structure like SY-Ⅱ UVMS. According to Newton-Eule- rian recursive algorithm, the disturbances model which consisted of coupling impacts and restoring force （moment） generated by the motion of the manipulator were obtained, and then the global kine- matic control loop with dynamic control law based on disturbances model was combined to compensate the disturbances that affected the vehicle＇s attitude. Experiments carried on SY-Ⅱ UVMS show that compared with S surface control, the proposed control method basically keeps the station stable show- ing its superiority by estimating and compensating positon error in real time.