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Position/force operational space control for underwater manipulation.
- Source :
-
Robotics & Autonomous Systems . Feb2018, Vol. 100, p150-159. 10p. - Publication Year :
- 2018
-
Abstract
- An underwater manipulator is a complex system, highly non-linear and subject to disturbances caused by underwater effects. To obtain a reliable system, robust control strategies have to be designed for the manipulator. The main contribution of this paper is the development of the low-level position/force control structure for an underwater manipulator. The proposed control strategy is planned in the operational space and combines together the parallel control structure for position/force applications with the sliding mode theory and the manipulator model information. The dynamic model of the system incorporates the hydrodynamic effects and an approximation of the end-effector force contact with the environment. This paper presents a method for computing the interaction force at the end-effector in the absence of a force–torque sensor. The control structure is validated through a Lyapunov-stability approach and experimental results. The control structure is tested on a 6 degrees-of-freedom underwater manipulator interacting with the underwater environment. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 09218890
- Volume :
- 100
- Database :
- Academic Search Index
- Journal :
- Robotics & Autonomous Systems
- Publication Type :
- Academic Journal
- Accession number :
- 127190666
- Full Text :
- https://doi.org/10.1016/j.robot.2017.11.004