Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation

Wang, Yu; Wang, Shuo; Wei, Qingping; Tan, Min; Zhou, Chao; Yu, Junzhi

doi:10.1109/tmech.2015.2494068

Cited by 83 publications

(18 citation statements)

References 35 publications

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“…Compared with the widely used classical robot manipulators, the cable‐driven ones have much lower stiffness and smaller moving mass, which can effectively guarantee the safety for physical interactions with human. Due to above obvious advantages, cable‐driven manipulators have been widely used in medical care, flexible manufacturing, and academic studies …”

Section: Introductionmentioning

confidence: 99%

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Wang

Yan

Zhu

et al. 2019

Intl J Robust & Nonlinear

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In this paper, a new practical robust control scheme is proposed and investigated for the cable-driven manipulators under lumped uncertainties. There are three parts in the proposed method, ie, a time-delay estimation (TDE) part, a modified super-twisting algorithm (STA) part, and a fractional-order nonsingular terminal sliding mode (FONTSM) error dynamics part. The TDE uses intentionally time-delayed system signals to estimate the lumped dynamics of the system and ensures an attractive model-free control structure. The STA is applied to guarantee high performance and chattering suppression simultaneously in the reaching phase. The FONTSM error dynamics is utilized to obtain fast convergence and strong robustness in the sliding mode phase. Thanks to the above three parts, the proposed control scheme is model free and can ensure high control performance under lumped uncertainties. The stability considering the FONTSM error dynamics and modified STA scheme is analyzed. Comparative simulation and experiments were conducted to demonstrate the effectiveness and superiorities of the newly proposed control scheme. Corresponding experimental results show that our newly proposed control scheme can provide more than 20% improvement of the steady control accuracy under three different reference trajectories. KEYWORDS cable-driven manipulators, fractional order, model free, nonsingular terminal sliding mode, super-twisting algorithm (STA), time-delay estimation (TDE) INTRODUCTIONRobot manipulators have been widely utilized in many practical fields benefitting from their excellent capability to execute automatic tasks. 1-4 Usually, the drive motors are directly installed in the joints to simplify the system structure and obtain good control accuracy, which in turn will bring in high stiffness and big moving inertia. This design performs well for the industrial applications, but it will not be safe for the physical interactions with human due to the high stiffness and large moving mass. Therefore, the cable-driven manipulators were proposed and utilized to efficiently settle the above issue. 5 Compared with the widely used classical robot manipulators, the cable-driven ones have much lower stiffness and smaller moving mass, which can effectively guarantee the safety for physical interactions with human. Due to above obvious advantages, cable-driven manipulators have been widely used in medical care, flexible manufacturing, and academic studies. [6][7][8][9][10][11][12] Int J Robust Nonlinear Control. 2019;29:3405-3425.wileyonlinelibrary.com/journal/rnc

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Section: Introductionmentioning

confidence: 99%

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Wang

Yan

Zhu

et al. 2019

Intl J Robust & Nonlinear

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“…The buoyancy in the air is negligible, and we assume that there is no interaction with the environment. However, for this type of robot the second term in (2), which describes the influence of the moving mass acceleration to the attitude dynamics, cannot be neglected. Although produced from physically different phenomena, this dynamic component is similar to rotor flapping.…”

Section: A Controlmentioning

confidence: 99%

“…To obtain linearized dynamics of attitude control suitable for linear control system design, we adopt the first order approximation for the hovering conditions ( m j=1 F j = M g). Using this assumption in (2) and 3, we obtain the first order approximation of the attitude dynamics.…”

Section: A Controlmentioning

confidence: 99%

“…This is not a new concept, but rather a well-known research problem in mobile robotics [1]. However, in order to truly abandon the concept of fixed base, one must move towards applications that allow the robot to float in water [2], [3] and space [4] or even fly [5]. Simultaneously, as the interest in unmanned aerial vehicles peaks, aerial manipulation has become one of the most prominent research fields of robotics.…”

Section: Introductionmentioning

confidence: 99%

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Centroid Vectoring for Attitude Control of Floating Base Robots: From Maritime to Aerial Applications

et al. 2019

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In this paper, we show the uses of centroid vectoring for attitude control of floating base robots. To derive the control algorithm, we utilize dynamical and kinematic robot model, and ubiquitous Jacobian matrix, which allows us to control the orientation of the main body of a robot by adjusting the control input to its actuators. Controlling the orientation of the main body of a robot is important because it is typically where the sensors, scientific payload, and/or manipulators are attached. The experiments on aerial and underwater vehicles using the same algorithm show how this method can translate across different platforms and actuation methods. The simulation and experimental results are shown in this paper on air (µMORUS) and sea (AquaShoko) platforms. INDEX TERMS Unmanned aerial vehicles, Unmanned underwater vehicles, Control design, Attitude control.

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“…Because the ROV is able to run in deep and dangerous underwater environments for a long time to conduct operations with high intensity and large quantity, it has been widely used for observing ocean environments, exploiting marine resources, inspecting and maintaining underwater platforms, etc. (Lorance and Trenkel, 2006;Park et al, 2011;Narayanaswamy et al, 2013;Wang et al, 2016). An operator performs diverse underwater operational tasks based on live videos of the surrounding environment sent back to the surface console (located on the ground or on a ship).…”

Section: Introductionmentioning

confidence: 99%

Study of manipulator operations maneuvered by a ROV in virtual environments

Jin

Wei

et al. 2017

Ocean Engineering

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Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation

Cited by 83 publications

References 35 publications

A new practical robust control of cable‐driven manipulators using time‐delay estimation

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Centroid Vectoring for Attitude Control of Floating Base Robots: From Maritime to Aerial Applications

Study of manipulator operations maneuvered by a ROV in virtual environments

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