Experimental validation of end-effector stabilization for underwater vehicle-manipulator systems in subsea operations

Abstract

This paper considers the kinematic control approach for controlling an underwater vehicle-manipulator system. Three different kinematic control schemes have been applied, and the performance of each scheme is compared. The kinematic control schemes provide velocity references, while the control system aims to keep a fixed position for the manipulator's end-effector, and at the same time compensate for slowly varying motions of the underwater vehicle. Experimental results show that the proposed full modified kinematic control scheme has better performance than the decoupled kinematic control scheme, while it nicely outperforms the full kinematic control scheme. All the control schemes are good alternatives for controlling an underwater vehicle-manipulator system using kinematic control.

Recent Advances in AI for Navigation and Control of Underwater Robots

“…On the other side, and as previously noted, the fact that most vehicles are underactuated (i.e. equipped with less actuators than degrees of freedom to be controlled) might make the manipulation more complicated, since it requires of higher dexterity and precision [67]. Worth mentioning is a recent a paper describing the control architecture for the "Ocean One" underwater humanoid system based on whole-body control strategies as well as initial experimental field trials [68].…”

Dynamic Analysis of the UVMS: Effect of Disturbances, Coupling, and Joint-Flexibility on End-Effector Positioning

“…However, considering the hydrodynamic forces acting on the UVMS and the coupling between the motions of the vehicle and the manipulator, it is a strenuous task to achieve such a high precision of the end effector. 2 To improve the precision of the end effector, control schemes based on vehicle-motion compensation can be applied. However, such schemes rely on the accuracy of the position sensors of the vehicle, which is mostly of the order of a meter and, therefore, cannot effectively meet the precision requirements for positioning the end effector.…”

Development of Robot Platform for Autonomous Underwater Intervention

“…한 유지비용이 요구되며, 운전자의 숙련도, 작업시간에 따른 피 로 누적, 그리고 운용자-잠수정 사이의 물리적 거리로 인한 시간 지연(Time delay) 등에 의해 작업 효율이 좌우되는 문제점이 있다 (Haugalokken et al, 2018). 이러한 문제점들을 극복하기 위해, 자 율수중잠수정(AUV, Autonomous underwater vehicle)에 로봇팔을 장착시켜 자율적으로 작업을 수행하는, I-AUV(Intervention AUV) 또는 UVMS(Underwater vehicle manipulator system)에 대한 연구 가 1990년부터 진행되어 왔다 (Mohan andKim, 2015, Simetti et al, 2018) 로봇의 운동 성능은 Fig.…”