Investigations on the dynamic coupling in AUV-manipulator system and the manipulator trajectory errors using bond graph method

Periasamy, T.; Thondiyath, Asokan; Singaperumal, M.

doi:10.1080/00207721.2010.543488

Cited by 5 publications

(4 citation statements)

References 24 publications

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“…Redundant robot manipulators can achieve subtasks smartly and have been widely applied in factory automation such as working in hazardous or cluttered environments, carrying radioactive materials, and doing repetitive and dull work (Fateh, Tehrani, & Karbassi, 2013;Lasky & Ravani, 2000;Periasamy, Asokan, & Singaperumal, 2012;Xiao & Zhang, 2013a;Yang, Li, & Li, 2013;Yang et al, 2011;Zhang, Tan, Chen, Yang, & Lv, 2009). It is very important for robot manipulators to avoid collisions with obstacles; otherwise, the robot manipulators or the objects being held may undergo serious damage.…”

Section: Introductionmentioning

confidence: 99%

Dynamic design, numerical solution and effective verification of acceleration-level obstacle-avoidance scheme for robot manipulators

Xiao

Zhang

2014

International Journal of Systems Science

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For avoiding obstacles and joint physical constraints of robot manipulators, this paper proposes and investigates a novel obstacle avoidance scheme (termed the acceleration-level obstacle-avoidance scheme). The scheme is based on a new obstacle-avoidance criterion that is designed by using the gradient neural network approach for the first time. In addition, joint physical constraints such as joint-angle limits, joint-velocity limits and joint-acceleration limits are incorporated into such a scheme, which is further reformulated as a quadratic programming (QP). Two important 'bridge' theorems are established so that such a QP can be converted equivalently to a linear variational inequality and then equivalently to a piecewise-linear projection equation (PLPE). A numerical algorithm based on a PLPE is thus developed and applied for an online solution of the resultant QP. Four path-tracking tasks based on the PA10 robot in the presence of point and windowshaped obstacles demonstrate and verify the effectiveness and accuracy of the acceleration-level obstacle-avoidance scheme. Besides, the comparisons between the non-obstacle-avoidance and obstacle-avoidance results further validate the superiority of the proposed scheme.

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Section: Introductionmentioning

confidence: 99%

Dynamic design, numerical solution and effective verification of acceleration-level obstacle-avoidance scheme for robot manipulators

Xiao

Zhang

2014

International Journal of Systems Science

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“…This combination significantly improved the station-keeping of the UUV during underwater manipulation. Periasamy, Asokan and Singaperumal (2012) applied the bond graph method to study the dynamics of a UVMS composed of a 6-DoFs AUV with a 3-DoFs manipulator. To perform the modeling, the UVMS was divided into two individual modules, one for the AUV and the other for the manipulator, connected through the energy ports.…”

Section: Dynamic Modelingmentioning

confidence: 99%

“…Similarly simulation results of Dunnigan and Russell (1998) have shown that reaction forces due to the manipulator motion act like induced disturbances on the AUV, affecting its position and attitude. An important observation made by Periasamy, Asokan and Singaperumal (2012) is about the attitude DoFs of the AUV, described by the Euler angles -yaw, pitch and roll, which are more disturbed compared to the translational DoFs. In fact, Dunnigan and Russell (1998) also verified a stronger coupling influence for the attitude DoFs, which was credited to the restorative moments and reactions induced by the manipulator, as in Periasamy, Asokan and Singaperumal (2012).…”

Section: Dynamic Modelingmentioning

confidence: 99%

“…A critical remark made by the authors says that only the UUV (slow subsystem) needs a robust control law since the manipulator response is too fast. According to the authors, the mass ratio between the vehicle and the manipulator is related to the bandwidth characteristics of the system, as in the previous works, which focus on the dynamic coupling, as in Dunnigan and Russell (1998), Periasamy, Asokan and Singaperumal (2012) and Barbalata, Dunnigan and Petillot (2014). Chung et al (2000) proposed a robust control algorithm based on a disturbance observer for UVMSs.…”

Section: Coordinated Controlmentioning

confidence: 99%

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Estratégias modulares aplicadas ao controle de sistemas do tipo veículo-manipulador subaquático durante o transporte cooperativo.

Oliveira

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The demand for natural resources (e.g., oil and gas, minerals, etc.), together with the high cost and operators fatigue associated with the classical teleoperation approach used by the offshore industry in Remotely Operated Vehicles (ROVs), brings the need for a higher degree of automation in the intervention tasks. To meet this requirement, the Underwater Vehicle-Manipulator Systems (UVMSs) are intended to be used in an autonomous way to perform Inspection, Maintenance and Repair (IMR) operations in the next fell years. Also, there is an increasing demand for alternative means of transportation in the underwater environment to assist in construction, deep-sea mining and general dexterous manipulation, which a single UVMS cannot perform. This work focuses on the motion control and coordination of UVMSs during cooperative transportation. Among the theoretical developments, the main contribution is the introduction of the Modular Control Methodology (MCM) for general multibody systems, whose potential engineering applications go beyond the class of problems that originally motivated this thesis. This novel methodology simplifies the control synthesis with a hierarchical approach, using standard controllers for the subsystems in the lowest levels of the control hierarchy and enforcing the constraints a posteriori. It also enables control allocation in the case of overactuation and optimal control synthesis. The MCM can also be used for coordination during cooperative transportation, since the prescribed formation can be treated as a set of constraints among the agents according to the established communication topology. The contributions made here are tested through numerical simulations in different scenarios.

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Modeling and Control of Space Robots

Samantaray

Pathak

Bouamama

2012

Intelligent Mechatronic Systems

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Investigations on the dynamic coupling in AUV-manipulator system and the manipulator trajectory errors using bond graph method

Cited by 5 publications

References 24 publications

Dynamic design, numerical solution and effective verification of acceleration-level obstacle-avoidance scheme for robot manipulators

Dynamic design, numerical solution and effective verification of acceleration-level obstacle-avoidance scheme for robot manipulators

Estratégias modulares aplicadas ao controle de sistemas do tipo veículo-manipulador subaquático durante o transporte cooperativo.

Modeling and Control of Space Robots

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