Experiments on a floating underwater robot with a two-link manipulator

Abstract

This article concerns experiments with a fleefloating underwater robot with a two-dimensional, horizontal planar, two-link manipulator. Some dynamic models of underwater manipulators have been proposed, but only a few experiments have been carried out. Here, we derive a dynamic model for a free-floating underwater robot with a two-link manipulator, including the hydrodynamic forces, and validate the effectiveness of the model by simulation and experiment. We also show an experimental result using a resolved acceleration control method. These experimental results show the effectiveness the model and the control method.

Optimal Trajectory of Underwater Manipulator Using Adjoint Variable Method for Reducing Drag

“…Therefore, the establishment of ocean study technology is extremely important. Since the 1990s, researchers have investigated the development of underwater robot manipulators for oceanic studies [1][2][3][4][5][6].…”

“…Kahn and Roth first presented an optimal time control method based on kinematic dynamics [9]. Vukobratovic and Kiranski presented an optimal time control method based on dynamic programming [10]. Townsend et al presented optimal control by approximating a function [11].…”

“…Vukobratovic and Kiranski presented an optimal time control method based on dynamic programming [10]. Townsend et al presented optimal control by approximating a function [11]. Lee et al presented the formulation of a genetic algorithm based on trajectory planning [12].…”

Modelling and control of manipulators with flexible links working on land and underwater environments

“…20,21 Classical and novel control methods are used together with fuzzy control in order to improve manipulator systems performance and behaviour in various environments. 34 The research on underwater manipulators carried out till now have totally used rigid links. Since most of the deep undersea cannot be reached by human divers and because of inconvenient, dangerous deep-sea environments, the use of underwater manipulators has become vital tools for underwater remotely operated vehicle (ROV) operations.…”

“…[22][23][24][25] As there exist a wide literature on land manipulators with flexible links, few have done on underwater flexible manipulators. [33][34][35][36] Therefore, the main objective of this paper falls in two categories; first, to study and give the dynamic characteristics of a two link land and underwater manipulator whose first link is rigid and the second one is flexible, and second, to compare the control performances of the manipulators for both environments using classical control methods, fuzzy control and integral augmented fuzzy control. An underwater manipulator could be used to inspect and maintain the components of nuclear power plants because of reducing radiation exposure to human operators.…”