An Approach to the Construction of High-Quality Position Force Control Systems for Autonomous Underwater Vehicles with a Multi-Link Manipulator

Timoshenko, Aleksandr; Zuev, Aleksandr; Filaretov, Vladimir

doi:10.1109/icos60708.2023.10425442

Cited by 1 publication

(1 citation statement)

References 7 publications

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“…However, these approaches are efficient only in cases where the base of the manipulator is not displaced relative to the target object, which cannot be achieved when performing operations in the hovering mode of an AUV. The approach proposed in [38] involves the creation of thrust at the attachment point of the manipulator by the AUV thrusters, which is necessary for the position-force control of a manipulator with a fixed base [36], while taking into account the peculiarities of the influence of a viscous fluid on the moving links of this manipulator. However, the practical use of this approach will be limited by the insufficient accuracy of the stabilization of the AUV [39] due to the inertia of the vehicle, the nonlinearity of the static characteristics of its thrusters and the limited accuracy of determining the displacements of the AUV relative to the object by means of the technical vision systems (TVS), as well as delays in obtaining navigation information.…”

Section: Introductionmentioning

confidence: 99%

Development of a Control System for Underwater Vehicles with Multilink Manipulators Performing Contact Manipulation Operations

Konoplin,

Krasavin,

Yurmanov

et al. 2024

JMSE

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This article proposes a new method for the synthesis of autonomous underwater vehicles (AUVs) with a multilink manipulators control system, which provides for the automatic execution of contact manipulation operations by AUVs in stabilized hovering mode near or above target objects. To achieve the desired magnitude of the working tool’s force effect on the object surface, the force vector exerted by this tool is calculated. Next, control signals providing additional movements of the manipulator’s tool in the direction of the desired force vector are generated. Simultaneously, based on the calculated effects from the manipulator on the AUV, the thrusts of the latter’s thrusters create the necessary pull at the manipulator’s attachment point, which allows it to exert the desired force effects on the object surface. To compensate for the inevitable AUV stabilization system errors, leading to the tool’s deviations from the trajectory, the latter is automatically corrected, taking into account the actual AUV deviations. As a result, contact manipulation operations are performed while maintaining the continuous contact of the tool with the object, even with slight displacements of the AUV from the stabilization point. The operability and efficiency of the synthesized system are confirmed by the results of numerical modeling, with the use of basin experimental data and visualization.

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Section: Introductionmentioning

confidence: 99%