Virtual platform of a manned submersible vehicle carrying an underwater manipulator

Zhang, Jin; Li, Wei; Yu, Jian; Li, Yan; Li, Shuo; Huo, Liangqing; Liu, Kaizhou; Chen, Zhier

doi:10.1109/cyber.2015.7288102

Cited by 6 publications

(6 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Previous work [14][15][16] about the 7-function hydraulic underwater manipulator which working depth is 7000 meters were done by Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, including the manipulator system design, simulation and 7000m pressure experiment, etc.…”

Section: Introductionmentioning

confidence: 99%

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

Zhang

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

Self Cite

View full text Add to dashboard Cite

A greater control performance of underwater slave arm actuator modules could improve the efficiency and accuracy of the whole master-slave manipulator system. In this paper, the development of the 7-function manipulator can be used in 7000m depth is introduced firstly, and then a hierarchical control scheme is researched to control the manipulator system. The information passed to the lower control system is usually only a higher level decision command, so the hydraulic actuators of the slave arm must be capable of following the command to complete complex tasks in different depth rating underwater environment. In order to ensure the operation reliability of the manipulator, the control performance of the hydraulic actuators of the manipulator has been emphatically verified through on-line pressure experiments in this paper, and the results are reported in detail. Meanwhile, more experiments around the manipulator are researched in this paper.

show abstract

Section: Introductionmentioning

confidence: 99%

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

Zhang

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

Self Cite

View full text Add to dashboard Cite

show abstract

“…Underwater manipulators, mounted on underwater vehicles, are essential tools for conducting complicated, difficult, and even dangerous tasks in the sea environment [1][2][3][4]. Additional equipment, like carrier and cradle head, need to be adjusted in real time when doing the operational tasks.…”

Section: Introductionmentioning

confidence: 99%

Operating an underwater manipulator via P300 brainwaves

Zhang

et al. 2016

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

Self Cite

View full text Add to dashboard Cite

It would be difficult and stressful for a single operator to operate an underwater manipulator using his/her both hands in deep sea environments while the operator has to monitor or manipulate additional equipment. In order to reduce the operating pressure and make full use of the operator potentials, in this paper we propose a control strategy for operating the underwater manipulator via P300 brainwaves, which provides the operator a new way to operate the underwater manipulator without need for both hands. In this case, the two hands can be used to manipulate other equipment. The manipulator is a masterslave servo hydraulic manipulator with 7 functions, consisting of six degrees of freedom (DOFs) and a parallel gripper for manipulations. A p300 interface is designed by considering operation tasks of the underwater manipulator. It's a 3*3 image matrix where each image corresponds to an underwater manipulator behavior. An experimental platform, in which a virtual underwater manipulator is developed, is used for validating the feasibility and effectiveness of the proposed brainwave-based strategy. Eight subjects are invited to do a typical underwater operational task, grasping a marine organism sample, on the virtual experimental platform. Their experimental results demonstrate that the proposed method is feasible and effective.

show abstract

“…However, due to the nonlinear, time-variation of dynamic properties and other factors (i.e., external disturbances such as ocean current disturbance) [7,8], the system dynamic model has uncertainties, which will affect the joint control of the manipulator based on the dynamic model. Besides, for most hydraulic manipulators, the joint control performance is also affected by joint lag [6,9,10], which means that the joint lag will affect the control accuracy of manipulator joint. In conclusion, under the influence of the above factors, it has great research significance and practical value to develop the joint control technology of underwater manipulators for improving the accuracy and efficiency of underwater operation.Currently, many methods have achieved high control accuracy, which uses the online approximation to deal with the uncertainty factors, and determine the controller and adaptive law of parameter through stability analysis [11,12].…”

mentioning

confidence: 99%

Adaptive Sliding Mode PID Control for Underwater Manipulator Based on Legendre Polynomial Function Approximation and Its Experimental Evaluation

et al. 2020

View full text Add to dashboard Cite

The joint control problem of the underwater manipulator is addressed in this paper, under the influence of uncertainty factors such as model uncertainty, external disturbance, and manipulator joint lag. In general, for the uncertainty factors, it is usually approximated online, but it is difficult to select a reasonable value for the approximation error boundary, too conservative estimated values would cause chattering problem easily. And the influence of joint lag on the manipulator control should be considered in actual work. Unlike most previous control method, in this paper, the function approximation technique (FAT), which uses the Legendre polynomial, is adopted to approximate the uncertainty factors online. Then, based on the proportion integral differential (PID) sliding manifold with the integral and differential of tracking error, a sliding model PID controller is designed to speed up the response and reduce the effects of joint lag. For the error boundary, the adaptive law is proposed, and it will reduce chattering of the control quantity under the steady state of the system. It was proved that the joint error of the control system is uniformly asymptotic convergence through the stability analysis. Finally, the effectiveness of the proposed approach is demonstrated with pool comparison experiments of the underwater manipulator installed in the autonomous underwater vehicles (AUVs).Appl. Sci. 2020, 10, 1728 2 of 15 developed and equipped on multipurpose intervention-AUV [4]. An underwater electric manipulator (MARIS 7080, 7 DOF manipulator) was equipped on semi-autonomous underwater vehicle for the intervention mission (SAUVIM) [5].In UVMS, the underwater manipulator is a key component, and its joint control accuracy directly determines the operating accuracy of the UVMS. At present, underwater manipulators are mostly control objects with joint redundancy, and the accuracy mainly depends on the control performance of joints [6]. However, due to the nonlinear, time-variation of dynamic properties and other factors (i.e., external disturbances such as ocean current disturbance) [7,8], the system dynamic model has uncertainties, which will affect the joint control of the manipulator based on the dynamic model. Besides, for most hydraulic manipulators, the joint control performance is also affected by joint lag [6,9,10], which means that the joint lag will affect the control accuracy of manipulator joint. In conclusion, under the influence of the above factors, it has great research significance and practical value to develop the joint control technology of underwater manipulators for improving the accuracy and efficiency of underwater operation.Currently, many methods have achieved high control accuracy, which uses the online approximation to deal with the uncertainty factors, and determine the controller and adaptive law of parameter through stability analysis [11,12]. Among them, in view of the nonlinear and uncertain identification ability [11][12][13][14][15][16], neural network and fuzzy control has b...

show abstract

Virtual platform of a manned submersible vehicle carrying an underwater manipulator

Cited by 6 publications

References 7 publications

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

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

Operating an underwater manipulator via P300 brainwaves

Adaptive Sliding Mode PID Control for Underwater Manipulator Based on Legendre Polynomial Function Approximation and Its Experimental Evaluation

Contact Info

Product

Resources

About