Experiment research on control performance for the actuators of a deep-sea hydraulic manipulator

Zhang, Yunxiu; Zhang, Qifeng; Zhang, Aiqun; Cui, Shengguo; Du, Lidong; Huo, Liangqing

doi:10.1109/oceans.2016.7761100

Cited by 7 publications

(6 citation statements)

References 10 publications

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“…The slave computer receives control command from the host, sends feedback sensor data, and achieves joint servo control with PID algorithm. More details of master arm control system can be found in [13]. The autonomous control system is important for the platform, including forward kinematics, inverse kinematics [14], trajectory planning [15], visual servoing and cooperation.…”

Section: A Hardware Setupmentioning

confidence: 99%

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Construction and Research of an Underwater Autonomous Dual Manipulator Platform

Zhang

et al. 2018

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)

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Underwater hydraulic manipulator with the advantages of heavy load and mature technology, is widely used in ROV and HOV, however, the autonomous operating ability of ROV or HOV's manipulator is relatively weak. To solve this problem, in this paper, an underwater autonomous dual manipulator platform is developed which would be utilized in key technology research on underwater IMR (Inspection, Maintenance and Repair), ocean exploration and other marine applications to alleviate the operating burden and improve working efficiency. Using the same manipulator configuration as the 6000m Scientific ROV of SIA, the platform is comprised of two underwater hydraulic manipulators and has a three-axis motion base of the manipulators. Additionally, the control system is based on the ROS (Robot Operating System) and MoveIt!. This paper tends to illustrate some fundamental research of the platform, such as the system overview of the platform, modeling, motion planning in Matlab and ROS, and the computer-based control of single manipulator.

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Section: A Hardware Setupmentioning

confidence: 99%

“…The SIA7F manipulator is a 7-function deep sea hydraulic manipulator developed by Shenyang Institute of Automation and can be controlled by a master arm [13]. The kinematics model and D-H parameters can be found in [16].…”

Section: Modelingmentioning

confidence: 99%

Construction and Research of an Underwater Autonomous Dual Manipulator Platform

Zhang

et al. 2018

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)

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“…Hydraulic manipulators are widely used in aerospace, deep‐sea exploration (Zhang et al, 2017, 2016), forestry (Rantala et al, 2015; Ringdahl et al, 2011) and other fields because of their heavy‐duty performance, in which grasping‐handling tasks, such as wood loading and unloading (Kalmari et al, 2014; Ortiz Morales et al, 2014), construction material handling (Huang et al, 2017) and the handling of goods, play a central role (see Figure 1).…”

Section: Introductionmentioning

confidence: 99%

A practical method for the deformation of long‐stroke hydraulic manipulators in grasping‐handling tasks

Zhou

Zhang

Liu

2023

Journal of Field Robotics

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Long‐stroke hydraulic manipulators are utilized in various grasping‐handling tasks, and the flexible deformation of these manipulators is the primary obstacle that affects precise position control of the end‐effectors in Cartesian space. This deformation is manifested in the following three aspects: joint deformation, structural deformation and clearance variation. Due to deformation uncertainty, methods that model the hydraulic manipulator as a combination of flexible multibody systems and hydraulic actuators are unsuitable. In this article, we propose an incremental inverse kinematics model (IIKM) as a new approach to solving the above deformation difficulties. The projection method is used to obtain the inverse kinematic analytical solution of long‐stroke hydraulic manipulators, which is based on the manipulator deformation in the current configuration (current configuration refers to the arrangement of the manipulator links when the manipulator starts to move to the target position). The proposed method avoids complex flexible multibody modeling and parameter identification, allowing long‐stroke hydraulic manipulators to be accurately controlled within a certain neighborhood. An evaluation coefficient is proposed to analyze the calculation accuracy of the IIKM in combination with the success rate obtained from 190 grasping experiments. Through these experiments, we determine the optimal calculation height range of the IIKM in the vertical direction and the optimal calculation position area in the horizontal direction and prove that the IIKM result can guarantee the success of grasping‐handling tasks when the end‐effector is within the optimal calculation height range.

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“…3 There are several different kinds of configurations of the current commercial hydraulic underwater manipulators. 4,5 Among them, the last continuous three joint axises of the manipulators intersect at a point to form the spherical wrists, and the kinematic position and attitude of these manipulators are decouple, which makes it convenient and feasible to solve the inverse kinematic solutions, but the mechanical structures of the wrists would be complicated. Then in order to improve the flexibility of operation, and prevent the winding or twisting of internal pipelines of the wrist, 6 a kind of non-spherical wrist manipulator is designed.…”

Section: Introductionmentioning

confidence: 99%

A computation effective singularity avoidance method for the underwater manipulator with a non-spherical wrist

Gao

Wang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part M:

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In order to perform increasingly complex underwater tasks, we have designed a hydraulic underwater non-spherical wrist manipulator with a binocular vision system and a six-dimensional force sensor mounted behind the end-effector, which can improve the path accuracy and automation capabilities of the system. The system lays a foundation for the high precision and autonomous deep-sea operation and can improve its intelligence level. In this paper, we focus on solving the singularity avoidance problem of the hydraulic underwater manipulator for accurate control, and propose a computationally efficient singularity avoidance method to improve the path accuracy of the manipulator with the non-spherical wrist. Firstly, the singular configurations of the manipulator are analyzed. Secondly, the Jacobian is decomposed into sub-block matrices to obtain the singular factors according to the singular configurations. Thirdly, the singularities are avoided by the approximate damped reciprocal method. Theoretical analysis shows that the computation costs of the proposed method are only one-third to one-half of that of the traditional methods. The simulation results prove that the proposed method can largely improve the path accuracy of the manipulator with less computation costs, which shows that our method would have a certain significance in improving the precision and real-time response of deep-sea operations.

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Experiment research on control performance for the actuators of a deep-sea hydraulic manipulator

Cited by 7 publications

References 10 publications

Construction and Research of an Underwater Autonomous Dual Manipulator Platform

Construction and Research of an Underwater Autonomous Dual Manipulator Platform

A practical method for the deformation of long‐stroke hydraulic manipulators in grasping‐handling tasks

A computation effective singularity avoidance method for the underwater manipulator with a non-spherical wrist

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