Modularity development and control of an underwater manipulator for AUV

Ishitsuka, Makoto; Ishii, Kazuo

doi:10.1109/iros.2007.4399470

Cited by 7 publications

(5 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to avoid the sensing problem, some scholars selected the electric manipulator [10], or just assumed that the joint angles of the manipulator have been measured. However, electric underwater manipulators are often made as prototypes for research purposes but are rarely used in commercial applications [11,12]. erefore, such a problem has not been solved yet in engineering application.…”

Section: Overviewmentioning

confidence: 99%

See 1 more Smart Citation

Vision Positioning-Based Estimation Method and Its Simulation Studies on State of Underwater Manipulator

Wang

Wen-hao

2021

Mathematical Problems in Engineering

View full text Add to dashboard Cite

Work class remote operated vehicles (ROVs) are generally equipped with underwater manipulators and are widely used in underwater intervention and maintenance tasks. As the load of underwater operation is relatively heavy, most commercial underwater manipulators are hydraulically actuated and are not equipped with any sensor for joint angles to keep their architectures compact. Therefore, the automatic control methods widely used in industrial robots cannot be simply applied to underwater manipulators. In this paper, an estimation method on joint angles of manipulator is presented, in which several markers are arranged on the arm links and positioned from the corresponding cameras; consequently, the joint angles of the manipulator are estimated. The simulation results show that under typical optical vision positioning error (RMS: 5 mm), the positioning error of the end effector can be estimated as about 10 mm (RMS), which means that the proposed estimation method is feasible for the state estimation for automatic control of underwater manipulators.

show abstract

Section: Overviewmentioning

confidence: 99%

“…Together with equation (11), the partial derivatives of the object function p (c,j) with respect to the joint angles of the arm links, i.e., the called Jacobian matrix, are determined, and can accordingly be taken to estimate the optimal joint angles.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Vision Positioning-Based Estimation Method and Its Simulation Studies on State of Underwater Manipulator

Wang

Wen-hao

2021

Mathematical Problems in Engineering

View full text Add to dashboard Cite

show abstract

“…8 An electric manipulator with two degrees of freedom (DOFs) was installed on Twin-Burger AUV, a series of versatile test bed robots designed by University of Tokyo. 9 And an underwater electric manipulator with three functions was designed by the Shenyang Institute of Automation in China. 10 Recently, some researchers investigated long-arm manipulators.…”

Section: Introductionmentioning

confidence: 99%

Driving performance of underwater long-arm hydraulic manipulator system for small autonomous underwater vehicle and its positioning accuracy

Yang

Wang

Yao

2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

A novel underwater long-arm manipulator (ULAM) and its improved small-flow hydraulic driving system (SHDS) are presented in this article for small autonomous underwater vehicle (AUV). In the process of manipulator design, a joint driving device consisting of linear hydraulic cylinder, three-bar linkage, and four-bar linkage mechanism is developed to allow the manipulator to be folded. Since the manipulator is much long, a small joint angle deviation would result in a large end-effector's position deviation. To solve the problem, a small-flow hydraulic driving device with circulation in closed loop is proposed. And in the long-arm manipulator, the cross-sectional area of manipulator is small. So the diameter of hydraulic pipeline installed inside the manipulator is limited, but the pipeline should also be long enough. In this case, it is common to cause large pressure loss in hydraulic system. And, rather than oil, water is selected as the hydraulic medium due to the low viscosity. In the hydraulic system design, a scheme with circulation in closed loop and improved sealing structure (consisting of O-ring and Glyd-ring) are developed to reduce the internal leakage and maintain a good endeffector's precision. In addition, the compressibility of water is relatively large, and it would bring bad impact on endeffector's precision. In this case, the vacuum-treated water is used and it has a good performance in the high-pressure condition. But in the low-pressure condition, the problem is still serious. In order to solve the problem, based on the "vacuum treatment," a pre-pressurization pressure treatment is added for the vacuum-treated water. All the improved ways are verified by experiment results. Finally, the end-effector's positioning experiment and trajectory tracking experiment are conducted on manipulator and small AUV, so as to verify the effectiveness and feasibility of the ULAM.

show abstract

“…The ability of attitude change can provide good field-of-view and good manipulation performance in a workspace based on several criteria, such as manipulability ellipsoid [1] [2] and manipulating force ellipsoid [3]. The ability to change its attitude also makes it possible for the robots to carry out manipulation tasks while avoiding obstacles under complex environments.…”

Section: Introductionmentioning

confidence: 99%

Pitch and roll control using independent movable floats for small underwater robots

Sakagami

Ueda

Shibata

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

In this paper, we propose a pitch and roll control system based on a float-shift mechanism for small underwater robots. The proposed system presented here takes advantage of the restoring moment generated by the gravity force and the buoyancy force. The proposed system can maintain the attitude of a robot in its desired orientation. In previous works, we developed a prototype system that only controls the pitch angle of a robot. This paper extends the control system to provide roll and pitch control. In this paper, we explain the static model of the proposed system and how to control the pitch and roll angles of an underwater robot. Next, we conduct numerical analysis in order to investigate the performance of the proposed system. Lastly, we show that the proposed system is able to change the pitch and roll angles of an underwater robot though several experiments in a test tank.

show abstract

Modularity development and control of an underwater manipulator for AUV

Cited by 7 publications

References 8 publications

Vision Positioning-Based Estimation Method and Its Simulation Studies on State of Underwater Manipulator

Vision Positioning-Based Estimation Method and Its Simulation Studies on State of Underwater Manipulator

Driving performance of underwater long-arm hydraulic manipulator system for small autonomous underwater vehicle and its positioning accuracy

Pitch and roll control using independent movable floats for small underwater robots

Contact Info

Product

Resources

About