Control System for Underwater Vehicle With Multilink Manipulator for Automatic Manipulation Operations

Abstract

This Publication has to be referred as: Filaretov AbstractThis paper describes development and research of the new synthesis method of control system for autonomous and remotely controlled underwater vehicles and for multilink manipulators mounted on the vehicles. Such system admits to realize widely used underwater research manipulation operations in automatic mode. Some of them are: collecting bioorganisms, definition of composition and density of the soil with special probes and drills, taking precipitation samples with hermetically sealed soil tubes, measurements with thermistor sensors in different layers of sedimentary soil.

Technology for Automatic Soil Sampling by Manipulators Mounted on Underwater Vehicles

“…This UV orientation allows to improve visibility of the working area and preserve the biggest workspace of the MM. As a result, when the conditions (3)- (5) are satisfied and the UV is approached to the bottom surface to a distance p ≤ 2L, the UV should terminate its motion and turns to the rise of the bottom surface [11].…”

“…As it is noted in [11], if the UV is near the bottom, the UV longitudinal axis should be directed to the rise of the plane (2), because a workspace of the MM is located in the front semisphere of this vehicle. This UV orientation allows to improve visibility of the working area and preserve the biggest workspace of the MM.…”

“…In the process of the UV submerging to the sea bottom surface, the determination of the space position of this surface relative of the vehicle can be obtained by the method [11]. According to this method, the bottom surface is described in the rigidly connected with the UV right rectangular coordinate system XYZ by the equation:…”

“…It is also necessary to rotate the UV towards the rise of the seabed surface [11]. This UV orientation will allow to take the most convenient position for the performing of the manipulation operation.…”

“…The approach for automatic implementation of manipulative operations near the sea bottom in hang mode of UV was proposed in the previous paper [11] of the authors. The approach provides the definition of a sea bottom surface position relative to the UV using standard hydroacoustic onboard sensors, and allows to form trajectories of MM motions so that the MM provides minimum possible force and torque effects on the UV during the operations.…”