Research on the Control Algorithm of Full Sea Heavy Load Proportional Seven-Function Hydraulic Manipulator Based on Load Sensing

Abstract An underwater manipulator is one of the most commonly used tools in offshore operations. In the face of the unknown environment of the deep sea and the uncertainty of the operation target, the underwater manipulator needs good control stability and higher control efficiency to prevent accidents, which puts forward higher requirements for the control of the manipulator. Underwater manipulators often need to work under heavy loads and to perform tasks efficiently under light loads, which is crucial for efficient control under load. In this paper, a control algorithm based on proportion and derivative feedback control for an all sea depth load proportional hydraulic manipulator is proposed. The feasibility and progressiveness of this algorithm are verified by building kinematic and dynamic models, building physical platforms for tests, and building sea trial acceptance.