Redundancy resolution for underwater mobile manipulators

Soylu, Serdar; Buckham, Bradley J.; Podhorodeski, Ron P.

doi:10.1016/j.oceaneng.2009.09.007

Cited by 61 publications

(28 citation statements)

References 11 publications

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“…Sarkar and Podder (2001); Han et al (2011);Mohan et al (2012). Redundancy resolution with multiple tasks is also reported in Antonelli and Chiaverini (2003); Soylu et al (2010) using fuzzy logic, and in Casalino et al (2012) using dynamic programming. The combination of an adaptive dynamic controller and an inverse kinematic algorithm for controlling a UVMS is studied in Sarkar et al (1999).…”

Section: Fig 1 Underwater Swimming Manipulatormentioning

confidence: 97%

A control framework for biologically inspired underwater swimming manipulators equipped with thrusters**This research was partly funded by the Research Council of Norway through the Centres of Excellence funding scheme, project No. 223254 NTNU AMOS, and partly funded by VISTA, a basic research program in collaboration between The Norwegian Academy of Science and Letters, and Statoil.

et al. 2016

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In this paper we present a control framework for a novel biologically inspired underwater swimming manipulator (USM) equipped with thrusters. The framework consists of a kinematic part and a dynamic part. The kinematic part of the framework controls the velocity of the head link of the USM by coordinating the motion of the body of the USM and the articulated joints. Various methods based on inverse kinematics is presented and the applicability of each method for kinematic control of the USM is discussed. The dynamic part of the framework ensures that the velocity references generated by the inverse kinematics method are followed and that the thruster forces are appropriately distributed among the available thrusters. The significance of the relationship between the inverse kinematics routine and the thruster allocation algorithm is explained and simulations are included to validate the concept for control of the USM.

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Section: Fig 1 Underwater Swimming Manipulatormentioning

confidence: 97%

A control framework for biologically inspired underwater swimming manipulators equipped with thrusters**This research was partly funded by the Research Council of Norway through the Centres of Excellence funding scheme, project No. 223254 NTNU AMOS, and partly funded by VISTA, a basic research program in collaboration between The Norwegian Academy of Science and Letters, and Statoil.

et al. 2016

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“…Additionally, null motions have been used to reduce the energy required for UVMS control by defining a performance index to optimize the restoring moments [6], the restoring moments and joint torques [7], and drag forces [12]. Antonelli [9] and Soylu et al [13] proposed algorithms to coordinate multiobjective indices. However, some of these previous studies are not readily applicable to real UVMSs because they use hydrodynamic parameters such as added mass and drag coefficients that cannot be modeled or identified exactly.…”

Section: Related Workmentioning

confidence: 99%

“…In addition, it is assumed that and are invariant with respect to flow velocity. Hence, we can rewrite (10) as (13) where and are the inertia matrix and the bias matrix including the effects of added mass by body motion. and are the vectors of , the th component of which are and .…”

Section: B Dynamic Modeling Of a Uvmsmentioning

confidence: 99%

Active Use of Restoring Moments for Motion Control of an Underwater Vehicle-Manipulator System

Han

Chung

2014

IEEE J. Oceanic Eng.

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This paper proposes a framework for actively using the restoring moments of an underwater vehicle-manipulator system (UVMS) considering both kinematic and control aspects. The kinematic aspect concerns redundancy resolution of the UVMS where the redundant degrees of freedom are used to selectively optimize the restoring moments. For this, a performance index with variable gradient gain is newly proposed, in which the gain is determined by the result in the comparison of the task direction with the direction of the restoring moments. The control aspect concerns compensation of the restoring forces and moments. In this framework, the control input makes up for the difference between the performances due to the desired dynamics and the restoring moments. This is accomplished by compensation of the restoring forces and moments, which are consistently updated under certain constraints. In addition, the compensation and optimal proportional-integral-derivative (PID) control are merged into a robust adaptive control. The proposed framework requires only masses, buoyant forces, and centers of gravity and buoyancy, not any hydrodynamic parameters. Numerical simulations are presented to demonstrate the performance of the proposed framework, in which a UVMS can perform specific tasks with less control input and achieve smaller tracking errors compared to conventional control systems.Index Terms-Redundancy resolution, robust adaptive control, underwater vehicle-manipulator system (UVMS).

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“…The task motion is distributed between the subsystems and secondary tasks are defined for the vehicle–manipulator coordination. Soylu et al applied a fuzzy logic technique on a UVMS having a spatial 4‐DOF manipulator that allows one to put velocity limits on excessive joint velocities. The fault‐tolerance property exploits the system redundancy to prevent interruption of a mission due to failing manipulator joints.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of an Underactuated Underwater Vehicle Redundant Manipulator System

Korkmaz

İder

Özgören

2016

Asian Journal of Control

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The purpose of this study is to control the position of an underactuated underwater vehicle manipulator system (U-UVMS). It is possible to control the end-effector using a regular 6-DOF manipulator despite the undesired displacements of the underactuated vehicle within a certain range. However, in this study an 8-DOF redundant manipulator is used in order to increase the positioning accuracy of the end-effector. The redundancy is resolved according to the criterion of minimal vehicle and joint motions. The underactuated underwater vehicle redundant manipulator system is modeled including the hydrodynamic forces for the manipulator in addition to those for the autonomous underwater vehicle (AUV). The shadowing effects of the bodies on each other are also taken into account when computing the hydrodynamic forces. The Newton-Euler formulation is used to derive the system equations of motion including the thruster dynamics. In order to establish the endeffector trajectory tracking control of the system, an inverse dynamics control law is formulated. The effectiveness of the control law even in the presence of parameter uncertainties and disturbing ocean currents is illustrated by simulations.

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Redundancy resolution for underwater mobile manipulators

Cited by 61 publications

References 11 publications

Active Use of Restoring Moments for Motion Control of an Underwater Vehicle-Manipulator System

Trajectory Tracking Control of an Underactuated Underwater Vehicle Redundant Manipulator System

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