Disturbance observer-based robust control for underwater robotic systems with passive joints

Chung, Goo Bong; Eom, K.S.; Suh, Il Hong; Oh, Sang–Rok; Chung, Wan Kyun; Kim, J. O.

doi:10.1163/156855301317033577

Cited by 10 publications

(3 citation statements)

References 3 publications

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“…where Q(s)=g/(s+g) is typically chosen as low-pass filter [26], [27]. The function of g/(s+g) is used to attenuate high frequency components resulting from differentiation action in the system.…”

Section: B Disturbance Observer Based Controlmentioning

confidence: 99%

Orthopedic surgery robotic system

Barkana

2009

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Recent research in orthopedic surgeries indicates that computer-assisted robotic systems can improve the precision and accuracy of the surgery which in turn leads to better long-term outcomes. Kinematic and dynamic analysis of an orthopedic robot called OrthoRoby, which will be used in bone cutting operations, are derived. Computed-torque and disturbance based observer low-level control methods have been evaluated for OrthoRoby to track a desired bone cutting trajectory. Low-level controllers are evaluated and the results are presented to demonstrate the feasibility of the controllers.

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Section: B Disturbance Observer Based Controlmentioning

confidence: 99%

Orthopedic surgery robotic system

Barkana

2009

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…A regressor matrix is also required in the control method as well as an update rule. The independent joint control method with disturbance observers for a four‐link model of a planar UVMS robust to modeling uncertainties and external disturbances is proposed by Chung et al . McLain et al showed by experiments that the dynamic interaction between the robot arm and the vehicle can be significant.…”

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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“…Despite the large number of works recently published on the subject of underactuated manipulators, covering its properties and control methods, [24][25][26][27][28] to the authors' knowledge there have been no contributions to the optimization of the control for such mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Optimal Robust Control of Underactuated Manipulators via Actuation Redundancy

2003

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In this article we focus on post-failure control of a mechanical manipulator from the point of view of optimal control, and present a novel method for controlling the positions of the failed, passive joints in an optimal way. It used the so-called coupling index as an optimization criterion to minimize the energy spent by the underactuated manipulator. Although the optimization is performed locally, the results indicate the validity and feasibility of the proposed theory.

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Disturbance observer-based robust control for underwater robotic systems with passive joints

Cited by 10 publications

References 3 publications

Orthopedic surgery robotic system

Orthopedic surgery robotic system

Trajectory Tracking Control of an Underactuated Underwater Vehicle Redundant Manipulator System

Optimal Robust Control of Underactuated Manipulators via Actuation Redundancy

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