Multiple Impedance Control for object manipulation by a dual arm underwater vehicle–manipulator system

Farivarnejad, Hamed; Moosavian, S. Ali A.

doi:10.1016/j.oceaneng.2014.06.032

Cited by 49 publications

(27 citation statements)

References 28 publications

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“…Moreover, regarding cooperative manipulation, various studies can be found on the literature employing decentralized control schemes where robotic agents use only their local information or observe [24]- [26]. Most of the aforementioned studies assume that the robots are equipped with a force/torque sensor on their end effectors in order to acquire knowledge of the interaction contact forces/torques between the end effector and the common object, which may lead to a performance reduction due to sensor noise [27]- [29]. In addition, in most of the studies dealing with cooperative manipulation in literature, very important properties concerning the robotic manipulator systems such as: singular kinematic configurations of Jacobian matrix and joint limits have not been considered at all.…”

Section: Introductionmentioning

confidence: 99%

A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems

Heshmati-alamdari

Karras

Kyriakopoulos

2019

2019 International Conference on Robotics and Automation (ICRA)

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This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC) approach for a team of UVMSs in order to transport an object while avoiding significant constraints and limitations such as: kinematic and representation singularities, obstacles within the workspace, joint limits and control input saturations. More precisely, by exploiting the coupled dynamics between the robots and the object, and using certain load sharing coefficients, we design a distributed NMPC for each UVMS in order to cooperatively transport the object within the workspace's feasible region. Moreover, the control scheme adopts load sharing among the UVMSs according to their specific payload capabilities. Additionally, the feedback relies on each UVMS's locally measurements and no explicit data is exchanged online among the robots, thus reducing the required communication bandwidth. Finally, real-time simulation results conducted in UwSim dynamic simulator running in ROS environment verify the efficiency of the theoretical finding.

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Section: Introductionmentioning

confidence: 99%

A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems

Heshmati-alamdari

Karras

Kyriakopoulos

2019

2019 International Conference on Robotics and Automation (ICRA)

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“…Nowadays, the possibility of using autonomous dual arm UVMSs [25]- [28] and even cooperating UVMSs is slowly arising. The Italian funded MARIS project [29] is dealing with the development of control algorithms capable of integrating single, dual arm and cooperative UVMSs within a common control framework [30], [31].…”

Section: Introductionmentioning

confidence: 99%

“…For example, acoustic modems available within ISME (see for example the S2CR- [18][19][20][21][22][23][24][25][26][27][28][29][30][31][32][33][34] Modem, capable of 13.9 kbit/s at short ranges [36] in the most favorable conditions) have only a bandwidth of 976 bit/s whenever small packets need to be sent, which would allow a maximum theoretical exchange rate of 5 Hz.…”

Section: Introductionmentioning

confidence: 99%

Manipulation and Transportation With Cooperative Underwater Vehicle Manipulator Systems

Simetti

Casalino

2017

IEEE J. Oceanic Eng.

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Autonomous underwater manipulation has been a topic of interest since the early 1990s. In the past few years, several milestone projects such as SAUVIM and TRIDENT have demonstrated autonomy capabilities for a single underwater vehicle manipulator system (UVMS) in performing simple manipulation tasks, e.g., the recovery of an object from the seafloor. The Italian funded MARIS project aims to extend some of these results to multiple UVMSs performing a cooperative transportation task of a long object such as a pipe. This paper presents the results achieved in developing a unifying architecture for the control of both individually and cooperatively operating UVMSs which explicitly makes use of a limited amount of information exchange between the agents, which is needed due to the severe bandwidth limitations of the underwater acoustic communications. A complete execution of the reference transportation mission is presented to support the proposed distributed algorithm. Furthermore, hydrodynamic simulations of the cooperative transportation phase are presented and an analysis of the achievable performances as different communication schemes are employed is given

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“…Many researchers successfully solve problems of the underwater vehicles (UV) development. These UV are equipped with one or several multilink underwater manipulators (UM) [1][2][3]. Such systems are designed to carry out many technological and research operations.…”

Section: Introductionmentioning

confidence: 99%

Control System for Underwater Vehicle With Multilink Manipulator for Automatic Manipulation Operations

Filaretov¹,

Konoplin²,

Konoplin³

et al. 2016

Proceedings of the 27th International DAAAM Symposium 2016

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This Publication has to be referred as: Filaretov AbstractThis paper describes development and research of the new synthesis method of control system for autonomous and remotely controlled underwater vehicles and for multilink manipulators mounted on the vehicles. Such system admits to realize widely used underwater research manipulation operations in automatic mode. Some of them are: collecting bioorganisms, definition of composition and density of the soil with special probes and drills, taking precipitation samples with hermetically sealed soil tubes, measurements with thermistor sensors in different layers of sedimentary soil.

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Multiple Impedance Control for object manipulation by a dual arm underwater vehicle–manipulator system

Cited by 49 publications

References 28 publications

A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems

A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems

Manipulation and Transportation With Cooperative Underwater Vehicle Manipulator Systems

Control System for Underwater Vehicle With Multilink Manipulator for Automatic Manipulation Operations

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