Coupled and Decoupled Force/Motion Controllers for an Underwater Vehicle-Manipulator System

Barbalata, Corina; Dunnigan, Matthew W.; Pétillot, Yvan

doi:10.3390/jmse6030096

Cited by 33 publications

(20 citation statements)

References 24 publications

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“…In practice, the target stiffness k d of the impedance control is determined firstly according to the steady-state pose error and the maximum allowable contact force error. If the environment stiffness is k E , the target stiffness k d should be far less than the environment stiffness, and the damping ratio ξneeds to satisfy the following equation ( 15) [17],…”

Section: Discretization Of the Impedance Control Algorithmmentioning

confidence: 99%

Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator

Chen²,

Han³

et al. 2020

International Journal of Aerospace Engineering

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The space station manipulator does lots of tasks with contact force/torque on orbit. To ensure the safety of the space station and the manipulator, the contact force/torque of manipulator must be controlled. Based on analyzing typical tasks’ working flows and force control requirements, such as ORU (orbit replacement unit) changeout and dual arm collaborative payload transport, an impedance control method based on wrist 6 axis force/torque feedback is designed. For engineering implementation of the impedance control algorithm, the discretization method and impedance control parameters selection principle are also studied. To verify the compliance control algorithm, a ground experiment platform adopting industrial manipulators is developed. In order to eliminate the influence of gravity, a real-time gravity compensation algorithm is proposed. Then, the correctness of real-time gravity compensation and force compliance control algorithm is verified on the experiment platform. Finally, the ORU replacement and dual arm collaborative payload transport experiments are done. Experimental results show that the force compliance control method proposed in this paper can control the contact force and torque at the end of the manipulator when executing typical tasks.

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Section: Discretization Of the Impedance Control Algorithmmentioning

confidence: 99%

Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator

Chen²,

Han³

et al. 2020

International Journal of Aerospace Engineering

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“…In ( Olguín-Díaz et al, 2013 ) and ( Heshmati-Alamdari et al, 2018 ), the authors proposed a force/position control approach with a task-priority-based redundancy method where contact force trajectories for the end effector were defined as the primary task and a posture of the UVMS as the secondary tasks. In ( Barbalata et al, 2018 ) and ( Razzanelli et al, 2019 ), the authors designed the force/position controllers for the contact interaction of the end effector of UVMS with environment. In ( Cieslak and Ridao, 2018 ), an admittance control (position-based impedance control) was developed for contact force control of UVMS.…”

Section: Introductionmentioning

confidence: 99%

Application of Adaptive and Switching Control for Contact Maintenance of a Robotic Vehicle-Manipulator System for Underwater Asset Inspection

et al. 2021

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The aim of this study is to design an adaptive controller for the hard contact interaction problem of underwater vehicle-manipulator systems (UVMS) to realize asset inspection through physical interaction. The proposed approach consists of a force and position controller in the operational space of the end effector of the robot manipulator mounted on an underwater vehicle. The force tracking algorithm keeps the end effector perpendicular to the unknown surface of the asset and the position tracking algorithm makes it follow a desired trajectory on the surface. The challenging problem in such a system is to maintain the end effector of the manipulator in continuous and stable contact with the unknown surface in the presence of disturbances and reaction forces that constantly move the floating robot base in an unexpected manner. The main contribution of the proposed controller is the development of the adaptive force tracking control algorithm based on switching actions between contact and noncontact states. When the end effector loses contact with the surface, a velocity feed-forward augmented impedance controller is activated to rapidly regain contact interaction by generating a desired position profile whose speed is adjusted depending on the time and the point where the contact was lost. Once the contact interaction is reestablished, a dynamic adaptive damping-based admittance controller is operated for fast adaptation and continuous stable force tracking. To validate the proposed controller, we conducted experiments with a land robotic setup composed of a 6 degrees of freedom (DOF) Stewart Platform imitating an underwater vehicle and a 7 DOF KUKA IIWA robotic arm imitating the underwater robot manipulator attached to the vehicle. The proposed scheme significantly increases the contact time under realistic disturbances, in comparison to our former controllers without an adaptive control scheme. We have demonstrated the superior performance of the current controller with experiments and quantified measures.

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“…Because UVMS consists of two subsystems, vehicle station-keeping and manipulator motion control are also important. There are many different control methods, such as PID control [40], model-based motion control [9,41], adaptive backstepping control [42][43][44][45], model predictive control [46][47][48][49][50][51][52], adaptive control [53,54], active disturbance rejection control [55,56], force/position control [36,57], dynamic surface control [58,59], and so on. In addition, sliding mode control of UVMS for second-order system is common and reliable, such as sliding mode impedance control [60], terminal sliding control [43,53,[61][62][63][64], dynamic sliding mode control [65], robust sliding mode control [5], multiple sliding mode methods [66], dynamic neural network [67], double-loop sliding mode control [68][69][70], adaptive sliding mode PID control [71], fuzzy sliding mode control [72][73][74][75], and so on.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Simulation of Grasping Process of Underwater Vehicle-Manipulator System

Chang

Yang

Zheng

et al. 2021

JMSE

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Underwater vehicle-manipulator system (UVMS) can be applied to fulfill different complex underwater tasks such as grasping, drilling, sampling, etc. It is widely used in the field of oceanographic research, marine exploration, military, and commercial applications. In this paper, the dynamic simulation of UVMS is presented in the process of grasping an object. First, the dynamic model of UVMS, which considers the change of the load of manipulator when the end effector of manipulator grasps the object, is developed. To compare different conditions, numerical simulation of grasping processes without/with vehicle attitude control are carried out. The simulation results show that the coupling dynamics between the vehicle and the manipulator in the grasping process are clearly illustrated. It deteriorates the positioning accuracy of the end effector of the manipulator and is harmful to underwater precision operations. The tracking position error of end effector without vehicle control is large and UVMS cannot complete the grasping task under this condition. Vehicle control can compensate the motion of the vehicle due to the coupling effect caused by the motion of the manipulator. This study will contribute to underwater operation mission for UVMS with floating base.

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Coupled and Decoupled Force/Motion Controllers for an Underwater Vehicle-Manipulator System

Cited by 33 publications

References 24 publications

Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator

Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator

Application of Adaptive and Switching Control for Contact Maintenance of a Robotic Vehicle-Manipulator System for Underwater Asset Inspection

Dynamics Simulation of Grasping Process of Underwater Vehicle-Manipulator System

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