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Academic literature on the topic 'Underwater manipulator control systems'

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Published: 10 December 2022
Last updated: 28 January 2023

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Journal articles on the topic "Underwater manipulator control systems"

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Balabanov, Alexey, Anna Bezuglaya, and Evgeny Shushlyapin. "Underwater Robot Manipulator Control." Informatics and Automation 20, no. 6 (September 23, 2021): 1307–32. http://dx.doi.org/10.15622/ia.20.6.5.

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This paper deals with the problem of bringing the end effector (grip center) of an underwater vehicle anthropomorphic manipulator to a predetermined position in a given time using the terminal state method. A dynamic model with the account of joint drives dynamics is formulated on the basis of obtained kinematic model constructed by using the Denavit-Hartenberg method (DH model). The DH model is used in a terminal nonlinear criterion that displays estimate of the proximity of the effector's orientation and position to the specified values. The dynamic model is adapted for effective application of the author's terminal state method (TSM) so that it forms a system of differential equations for the rotation angles of manipulator links around the longitudinal and transverse axes, having only desired TSM-controls in the right parts. The converted model provides simplifications of controls calculation by eliminating the numerical solution of special differential equations, that is needed in the case of using in TSM nonlinear dynamic models in general form. The found TSM-controls are further used in expressions for control actions on joints electric drives obtained on the basis of electric drives dynamic models. Unknown drives parameters as functions of links rotation angles or other unknown factors, are proposed to be determined experimentally. Such two-step procedure allowed to get drive control in the form of algebraic and transcendental expressions. Finally, by applying the developed software, simulation results of the manipulator end effector moving to the specified positions on the edge of the working area are presented. The resulting error (without accounting measurement error) does not exceed 2 centimeters at the 1.2 meters distance by arm reaching maximum of length ability. The work was performed under the Federal program of developing a robotic device for underwater research in shallow depths (up to 10 meters).
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Antonelli, G., S. Chiaverini, and N. Sarkar. "External force control for underwater vehicle-manipulator systems." IEEE Transactions on Robotics and Automation 17, no. 6 (2001): 931–38. http://dx.doi.org/10.1109/70.976027.

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Antonelli, Gianluca, Nilanjan Sarkar, and Stefano Chiaverini. "Explicit force control for underwater vehicle-manipulator systems." Robotica 20, no. 3 (May 2002): 251–60. http://dx.doi.org/10.1017/s0263574702004198.

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In this paper two explicit force control schemes for underwater vehicle-manipulator systems are presented. The schemes take into account several factors such as uncertainty in the model knowledge, presence of hydrodynamic effects, kinematic redundancy of the system, and poor performance of vehicle's actuation system. The possible occurrence of loss of contact due to vehicle's movement during the task is also considered, and the adoption of an adaptive motion control scheme is investigated to take advantage of dynamic compensation. The proposed control schemes have extensively been tested in numerical simulation runs; the results obtained in a case study are reported to illustrate their performance.
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Xu, Bin, Shunmugham R. Pandian, Norimitsu Sakagami, and Fred Petry. "Neuro-fuzzy control of underwater vehicle-manipulator systems." Journal of the Franklin Institute 349, no. 3 (April 2012): 1125–38. http://dx.doi.org/10.1016/j.jfranklin.2012.01.003.

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Cui, Yong, and Nilanjan Sarkar. "A unified force control approach to autonomous underwater manipulation." Robotica 19, no. 3 (April 25, 2001): 255–66. http://dx.doi.org/10.1017/s026357470000309x.

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A unified force control scheme for an autonomous underwater robotic system is proposed in this paper. This robotic system is composed of a six degree-of-freedom autonomous underwater vehicle (AUV) and a robotic arm that is mounted on the AUV. A unified force control approach, which combines impedance control with hybrid position/force control by means of fuzzy switching to perform autonomous underwater manipulation, is presented in this paper. This controller requires a dynamic model of the underwater vehicle-manipulator system. However, it does not require any model of the environment and therefore will have the potential to be useful in underwater tasks where the environment is generally unknown. The proposed approach combines the advantages of impedance control with hybrid control so that both smooth contact transition and force trajectory tracking can be achieved. In the absence of any functional autonomous underwater vehicle-manipulator system that can be used to verify the proposed controller, extensive computer simulations are performed and the results are presented in the paper.
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Soylu, Serdar, Bradley J. Buckham, and Ron P. Podhorodeski. "USING ARTICULATED BODY ALGORITHM WITHIN SLIDING-MODE CONTROL TO COMPENSATE DYNAMIC COUPLING IN UNDERWATER-MANIPULATOR SYSTEMS." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (December 2005): 629–43. http://dx.doi.org/10.1139/tcsme-2005-0041.

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A control scheme is presented for compensating dynamic coupling between an underwater robotic vehicle (URV) and a manipulator. During task execution the torques commanded at the manipulator joints lead to reactions at the junction point of the manipulator and vehicle. These reactions disturb the vehicle position and orientation and are the source of the vehicle-manipulator coupling. In many underwater robotic vehicle-manipulator (URVM) applications, the URV serves as a base while the manipulator performs a required task. Therefore, it is necessary to hold the URV as stationary as possible. In the current work, Slotine’s sliding mode control approach is used to compensate the dynamic effect of the underwater manipulator on the URV. The articulated body (AB) algorithm is used both for the time-domain simulation of the system and for the dynamic equations within the model-based sliding-mode controller. The AB algorithm is preferred for the time-domain system simulation, as it provides a computationally efficient simulation scheme. Finally, a three DOF manipulator mounted on a URV is considered, and results of time-domain numerical simulations of the proposed control scheme are presented.
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Wei, Yanhui, Zhi Zheng, Qiangqiang Li, Zhilong Jiang, and Pengfei Yang. "Robust tracking control of an underwater vehicle and manipulator system based on double closed-loop integral sliding mode." International Journal of Advanced Robotic Systems 17, no. 4 (July 1, 2020): 172988142094177. http://dx.doi.org/10.1177/1729881420941778.

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A nonlinear robust control method for the trajectory tracking of the underwater vehicle and manipulator system that operates in the presence of external current disturbances is proposed using double closed-loop integral sliding mode control. The designed controller uses a double closed-loop control structure to track the desired trajectory in the joint space of the underwater vehicle and manipulator system, and its inner and outer loop systems use integral sliding surface to enhance the robustness of the whole system. Then, the continuous switching mode based on hyperbolic tangent function is used instead of the traditional discontinuous switching mode to reduce the chattering of the control input of the underwater vehicle and manipulator system. In addition, the control method proposed in this article does not need to estimate the uncertainties of the underwater vehicle and manipulator system control system through online identification, but also can ensure the robustness of the underwater vehicle and manipulator system motion control in underwater environment. Therefore, it is easier to be implemented on the embedded platform of the underwater vehicle and manipulator system and applied to the actual marine operation tasks. At last, the stability of the control system is proved by the Lyapunov theory, and its effectiveness and feasibility are verified by the simulation experiments in MATLAB software.
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Kabanov, Aleksey, Vadim Kramar, Ivan Lipko, and Kirill Dementiev. "Cooperative Control of Underwater Vehicle–Manipulator Systems Based on the SDC Method." Sensors 22, no. 13 (July 4, 2022): 5038. http://dx.doi.org/10.3390/s22135038.

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The paper considers the problem of cooperative control synthesis for a complex of N underwater vehicle–manipulator systems (UVMS) to perform the work of moving a cargo along a given trajectory. Here, we used the approach based on the representation of nonlinear dynamics models in the form of state space with state-dependent coefficients (SDC-form). That allowed us to apply methods of suboptimal control with feedback based on the state-dependent differential Riccati equation (SDDRE) solution at a finite time interval, providing the change in control intensity with the transient effect of the system matrices in SDC form. The paper reveals two approaches to system implementation: a general controller for the whole system and a set of N independent subcontrollers for UVMSs. The results of both approaches are similar; however, for the systems with a small number of manipulators, the common structure is recommended, and for the systems with a large number of manipulators, the approach with independent subcontrollers may be more acceptable. The proposed method of cooperative control was tested on the task of cooperative control for two UVMSs with six-link manipulators Orion 7R. The simulation results are presented in the article and show the effectiveness of the proposed method.
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Lapierre, Lionel, Philippe Fraisse, and Pierre Dauchez. "Position/Force Control of an Underwater Mobile Manipulator." Journal of Robotic Systems 20, no. 12 (December 2003): 707–22. http://dx.doi.org/10.1002/rob.10119.

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Филаретов, В. Ф., А. Ю. Коноплин, А. В. Зуев, and Н. А. Красавин. "SYNTHESIS METHOD OF SYSTEMS FOR HIGH-PRECISION MOVEMENTS CONTROL OF UNDERWATER MANIPULATORS." Podvodnye issledovaniia i robototehnika, no. 4(34) (January 24, 2020): 31–37. http://dx.doi.org/10.37102/24094609.2020.34.4.004.

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Представлена разработка метода синтеза комбинированных систем, обеспечивающих высокоточное управление перемещениями рабочих органов многозвенных манипуляторов, установленных на подводных аппаратах. Предложенный метод позволяет точно идентифицировать негативные моментные воздействия на выходные валы электроприводов манипуляторов, возникающие при их перемещениях в вязкой среде, а также моменты сухого и вязкого трений в этих приводах. При использовании этого метода вначале с помощью рекуррентного алгоритма решения обратной задачи динамики выполняется предварительный аналитический расчет внешних моментов, возникающих во всех степенях подвижности движущегося подводного манипулятора. Этот расчет является весьма приближенным вследствие сложности определения параметров реального взаимодействия с водной средой всех звеньев манипулятора и захваченного груза. Поэтому далее с использованием динамических моделей электроприводов каждой степени подвижности, включающих аналитически рассчитанные внешние моменты, строятся дополнительные диагностические наблюдатели. Эти наблюдатели с помощью формируемых ими невязок точнее определяют величины непредвиденных изменений моментов вязкого и сухого трения в самих электроприводах. Затем идентифицированные моментные воздействия на электроприводы всех степеней подвижности манипулятора точно компенсируются с помощью самонастраивающихся корректирующих устройств, обеспечивающих стабилизацию динамических свойств этих приводов на номинальном уровне. Выполнено численное моделирование системы, синтезированной с помощью разработанного метода для многозвенного манипулятора с кинематической схемой PUMA, рабочий орган которого перемещался по сложным пространственным траекториям. Результаты численного моделирования показали многократное повышение точности выполнения подводными манипуляторами различных технологических операций при использовании синтезированной системы. The paper presents a synthesis method of combined systems providing high-precision movements control of multilink manipulator arm tool mounted on underwater vehicles. The proposed method allows precise identification of negative torques on the output shaft of the manipulator electric drives that emerged during its motion in a viscous medium and moments of coulomb and viscous friction in these drives. This method begins with a preliminary analytical calculation of external moments appearing in underwater manipulator axes of motion by the recurrent algorithm of solving the inverse dynamic problem. This calculation is highly coarse due to the complexity of determining parameters of the real interaction between all links of the manipulator, engaged load, and seawater medium. Additional diagnostic observers are then synthesized using dynamic models of electric drives of every axis of freedom, including analytically determined external moments. These observers can more precisely determine the values of unpredicted changes of the viscous and coulomb friction moments in drives itself using formed discrepancy signals. Then identified torques on the electric drives of all manipulator axes are compensated using self-regulated correcting devices capable of stabilizing these drives' dynamic properties on the nominal level. The paper contains numerical modeling of the system synthesized by a developed method for a multilink manipulator with a PUMA kinematic scheme, an arm tool of which was moved alongside a complex three-dimensional trajectory. The numerical modeling results showed a significant increase in the accuracy of different technological operations performed by underwater manipulators using a synthesized system.
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Dissertations / Theses on the topic "Underwater manipulator control systems"

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Andresen, Simen. "Underwater Robotics : control of marine manipulator-vehicle systems." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-25875.

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For using underwater vehicle-manipulator systems (UVMS) in a challenging envi-ronment, it is important to have a good mathematical description of the systemwhich accounts for disturbances such as ocean currents. The dynamics equation onmatrix form is therefore derived and different properties such as positive definitenessand skew symmetry is obtained. Based on the derived equations, a sliding modecontroller has been designed in order to track trajectories in the configuration spaceof the UVMS. The controller is robust when it comes to uncertainties in dynamicsparameters and uncertainties in ocean current, yielding global asymptotic stabilityas long as the uncertainties are bounded.Furthermore, a kinematic control system has been designed for facilitating humanoperation of a UVMS, by allowing an operator to only control the end effectormotion. The rest of the motion is then resolved through a weighted least-normpseudo inverse solution of the Jacobian matrix, in order to avoid mechanical jointlimits. Moreover, the vehicle’s motion is controlled by an event based algorithm tolimit the motion of the vehicle. This is done by attaching a 3D meshed polygon tothe vehicle frame and check if the end effector is inside or outside this mesh. Themesh then represents the space, relative to the manipulator, were the end effectoris fully dexterous. The vehicle will then be commanded to move only when the endeffector reaches the outside of the meshed polygon.A simulator has been implemented, based on the derived equations. The simula-tions of the UVMS, with the two controllers, yields good tracking results for trackingtrajectories both in the workspace of the end effector and in the configuration spaceof the UVMS.
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Korkmaz, Ozan. "Modeling And Control Of Autonomous Underwater Vehicle Manipulator Systems." Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12615051/index.pdf.

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In this thesis, dynamic modeling and nonlinear control of autonomous underwater vehicle manipulator systems are presented. Mainly, two types of systems consisting of a 6-DOF AUV equipped with a 6-DOF manipulator subsystem (UVMS) and with an 8-DOF redundant manipulator subsystem (UVRMS) are modeled considering hydrostatic forces and hydrodynamic effects such as added mass, lift, drag and side forces. The shadowing effects of the bodies on each other are introduced when computing the hydrodynamic forces. The system equations of motion are derived recursively using Newton&ndash
Euler formulation. The inverse dynamics control algorithms are formulated and trajectory tracking control of the systems is achieved by assigning separate tasks for the end effector of the manipulator and for the underwater vehicle. The proposed inverse dynamics controller utilizes the full nonlinear model of the system and consists of a linearizing control law that uses the feedback of positions and velocities of the joints and the underwater vehicle in order to cancel off the nonlinearities of the system. The PD control is applied after this complicated feedback linearization process yielding second order error dynamics. The thruster dynamics is also incorporated into the control system design. The stability analysis is performed in the presence of parametric uncertainty and disturbing ocean current. The effectiveness of the control methods are demonstrated by simulations for typical underwater missions.
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Barbalata, Corina. "Modelling and control of lightweight underwater vehicle-manipulator systems." Thesis, Heriot-Watt University, 2017. http://hdl.handle.net/10399/3279.

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This thesis studies the mathematical description and the low-level control structures for underwater robotic systems performing motion and interaction tasks. The main focus is on the study of lightweight underwater-vehicle manipulator systems. A description of the dynamic and hydrodynamic modelling of the underwater vehicle-manipulator system (UVMS) is presented and a study of the coupling effects between the vehicle and manipulator is given. Through simulation results it is shown that the vehicle’s capabilities are degraded by the motion of the manipulator, when it has a considerable mass with respect to the vehicle. Understanding the interaction effects between the two subsystems is beneficial in developing new control architectures that can improve the performance of the system. A control strategy is proposed for reducing the coupling effects between the two subsystems when motion tasks are required. The method is developed based on the mathematical model of the UVMS and the estimated interaction effects. Simulation results show the validity of the proposed control structure even in the presence of uncertainties in the dynamic model. The problem of autonomous interaction with the underwater environment is further addressed. The thesis proposes a parallel position/force control structure for lightweight underwater vehicle-manipulator systems. Two different strategies for integrating this control law on the vehicle-manipulator structure are proposed. The first strategy uses the parallel control law for the manipulator while a different control law, the Proportional Integral Limited control structure, is used for the vehicle. The second strategy treats the underwater vehicle-manipulator system as a single system and the parallel position/force law is used for the overall system. The low level parallel position/force control law is validated through practical experiments using the HDT-MK3-M electric manipulator. The Proportional Integral Limited control structure is tested using a 5 degrees-of-freedom underwater vehicle in a wave-tank facility. Furthermore, an adaptive tuning method based on interaction theory is proposed for adjusting the gains of the controller. The experimental results show that the method is advantageous as it decreases the complexity of the manual tuning otherwise required and reduces the energy consumption. The main objectives of this thesis are to understand and accurately represent the behaviour of an underwater vehiclemanipulator system, to evaluate this system when in contact with the environment and to design informed low-level control structures based on the observations made through the mathematical study of the system. The concepts presented in this thesis are not restricted to only vehicle-manipulator systems but can be applied to different other multibody robotic systems.
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Elghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.

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L’industrie offshore, pétrolière et gazière est le principal utilisateur des robots sous-marins, plus particulièrement de véhicules télé-opérés (ou ROV, Remotely Operated Vehicle). L'inspection, la construction et la maintenance de diverses installations sous-marines font parties des applications habituelles des ROVs dans l’industrie offshore. La capacité à maintenir un positionnement stable du véhicule ainsi qu’à soulever et déplacer des charges lourdes est essentielle pour certaines de ces applications. Les capacités de levage des ROVs sont cependant limitées par la puissance de leur propulsion. Dans ce contexte, cette thèse présente un nouveau concept d’actionnement hybride constitué de câbles et de propulseurs. Le concept vise à exploiter les fortes capacités de levage des câbles, actionnés par exemple depuis des navires de surfaces, afin de compléter l’actionnement d’un robot sous-marin. Plusieurs problèmes sont soulevés par la nature hybride (câbles et propulseurs) de ce système d'actionnement. En particulier, nous étudions l’effet de l'actionnement supplémentaire des câbles par rapport à un actionnement exploitant uniquement des propulseurs et nous tâchons de minimiser les efforts exercés par ces derniers. Ces deux objectifs sont les principales contributions de cette thèse. Dans un premier temps, nous modélisons la cinématique et la dynamique d'un robot sous-marin actionné à la fois par des propulseurs et des câbles et équipé d'un bras manipulateur. Un tel système possède une redondance cinématique et d'actionnement.. L'étude théorique sur l'influence de l'actionnement supplémentaire par câbles est appuyée par une étude en simulation, comparant les capacités de force d'un système hybride (câbles et propulseurs) à celles d'un système actionné uniquement par des propulseurs. L'évaluation des capacités est basée sur la détermination de l'ensemble des forces disponibles, en considérant les limites des forces d'actionnement. Une nouvelle méthode de calcul est proposée, pour déterminer l'ensemble des forces disponibles. Cette méthode est basée sur le calcul de la projection orthogonale de polytopes et son coût calculatoire est analysé et comparé à celui d'une méthode de l’état de l’art. Nous proposons également une nouvelle méthode pour le calcul de la distribution des forces d'actionnement, permettant d'affecter une priorité supérieure au sous-système d'actionnement par câbles afin de minimiser les efforts exercés par les propulseurs. Plusieurs cas d'études sont proposés pour appuyer les méthodes proposées
The offshore industry for oil and gas applications is the main user of underwater robots, particularly, remotely operated vehicles (ROVs). Inspection, construction and maintenance of different subsea structures are among the applications of ROVs in this industry. The capability to keep a steady positioning as well as to lift and deploy heavy payloads are both essential for most of these applications. However, these capabilities are often limited by the available on-board vehicle propulsion power. In this context, this thesis introduces the novel concept of Hybrid Cable-Thruster (HCT)-actuated Underwater Vehicle-Manipulator Systems (UVMS) which aims to leverage the heavy payload lifting capabilities of cables as a supplementary actuation for ROVs. These cables are attached to the vehicle in a setting similar to Cable-Driven Parallel Robots (CDPR). Several issues are raised by the hybrid vehicle actuation system of thrusters and cables. The thesis aims at studying the impact of the supplementary cable actuation on the capabilities of the system. The thesis also investigate how to minimize the forces exerted by thrusters. These two objectives are the main contributions of the thesis. Kinematic, actuation and dynamic modeling of HCT-actuated UVMSs are first presented. The system is characterized not only by kinematic redundancy with respect to its end-effector, but also by actuation redundancy of the vehicle. Evaluation of forces capabilities with these redundancies is not straightforward and a method is presented to deal with such an issue. The impact of the supplementary cable actuation is validated through a comparative study to evaluate the force capabilities of an HCT-actuated UVMS with respect to its conventional UVMS counterpart. Evaluation of these capabilities is based on the determination of the available forces, taking into account the limits on actuation forces. A new method is proposed to determine the available force set. This method is based on the orthogonal projection of polytopes. Moreover, its computational cost is analyzed and compared with a standard method. Finally, a novel force resolution methodology is introduced. It assigns a higher priority to the cable actuation subsystem, so that the forces exerted by thrusters are minimized. Case studies are presented to illustrate the methodologies presented in this thesis
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Koch, Christian Ernst Siegfried. "Model Predictive Control for Six Degrees-of-Freedom Station-Keeping of an Underwater Vehicle-Manipulator System." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-220907.

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Underwater robotics are a reliable and ecient mean for exploration and surveysin a submarine environment. Albeit, intervention tasks, e.g. installationand maintenance, require the expansive and hazardous deployment of professionaldivers. Lightweight unmanned underwater vehicles equipped with a multi-degreeof-freedom manipulator, have been proposed as an alternative. However, the controlof these vehicle-manipulator systems is challenging due to their non-linearhigh-dimensional coupled dynamics. The central problem explored in this thesis,is station keeping of an underwater vehicle under the inuence of a moving manipulator.The manipulator is represented by predictable disturbing forces andmoments. The proposed control scheme is a Model Predictive Control (MPC) algorithmwith preview of the disturbances. In simulation, performance of the MPCscheme is evaluated for dierent degrees of knowledge about the disturbances.Results are compared to a classical feedback controller.
Undervattensrobotik medför ett pålitligt och effektivt sätt att utforska submarinamiljöer. Lätta obemannade undervattensfarkoster, utrustade med verktyg,har även föreslagits som ett alternativ till professionella dykare för installationoch underhåll under ytan. Styrning av verktygsutrustade farkoster är en utmaningdå de medför högdimensionell olinjär dynamik och korseffekter. Det centralaproblemet som behandlas i det här arbetet är reglering av en undervattensfarkostutrustad med en robotarm, vars rörelser stör farkosten. Robotarmen representerasav störande krafter och moment som går att förutsäga i modellramverket. Denföreslagna styrlagen är modell-prediktiv reglering (MPC) med störningsprediktion.Styrlagen utvärderas i simulering under olika vetskapsnivåer av störsignalen.Resultaten jämförs även med simuleringar där klassisk återkoppling används.
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Lo, Ka Meng. "A novel design of underwater vehicle-manipulator systems for cleaning water pool." Thesis, University of Macau, 2010. http://umaclib3.umac.mo/record=b2494142.

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Braganza, David. "Control techniques for robot manipulator systems with modeling uncertainties." Connect to this title online, 2007. http://etd.lib.clemson.edu/documents/1193079734/.

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Mohamed, Zaharuddin. "Dynamic modelling and control of a flexible manipulator." Thesis, University of Sheffield, 2003. http://etheses.whiterose.ac.uk/15085/.

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This thesis presents investigations into dynamic modelling and control of a flexible manipulator system. The work on dynamic modelling involves finite element and symbolic manipulation techniques. The control strategies investigated include feedforward control using command shaping techniques and combined feedforward and feedback control schemes. A constrained planar single-link flexible manipulator is used as test and verification platform throughout this work. Dynamic model of a single-link flexible manipulator incorporating structural damping, hub inertia and payload is developed using the finite element method. Experiments are performed on a laboratory-scale single-link flexible manipulator with and without payload for verification of the developed dynamic model. Simulated and experimental system responses to a single-switch bang-bang torque input are presented in the time and frequency domains. Resonance frequencies of the system for the first three modes are identified. The performance and accuracy of the simulation algorithm are studied in comparison to the experimental results in both domains. The effects of damping and payload on the dynamic behaviour of the manipulator are addressed. Moreover, the impact of using higher number of elements is studied. The application of a symbolic manipulation approach for modelling and performance analysis of a flexible manipulator system is investigated. System transfer function can be retained in symbolic form using this approach and good approximation of the system transfer function can be obtained. Relationships between system characteristics and parameters such as payload and hub inertia are accordingly explored. Simulation and experimental exercises are presented to demonstrate the effectiveness of the symbolic approach in modelling and simulation of the flexible manipulator system. Simulation and experimental investigations into the development of feedforward control strategies based on command shaping techniques for vibration control of flexible manipulators are presented. The command shaping techniques using input shaping, low-pass and band-stop filters are considered. The command shaping techniques are designed based on the parameters of the system obtained using the unshaped bang-bang torque input. ii Abstract Performances of the techniques are evaluated in terms of level of vibration reduction, time response specifications, robustness to error in natural frequencies and processing times. The effect of using higher number of impulses and filter orders on the system performance is also investigated. Moreover, the effectiveness of the command shaping techniques in reducing vibrations due to inclusion of payload into the system is examined. A comparative assessment of the performance of the command shaping techniques in vibration reduction of the system is presented. The development of hybrid control schemes for input tracking and vibration suppression of flexible manipulators is presented. The hybrid control schemes based on collocated feedback controllers for rigid body motion control with non-collocated PID control and feedforward control for vibration suppression of the system are examined. The non-collocated PID control is designed utilising the end-point deflection (elastic deformation) feedback whereas feedforward control is designed using the input shaping technique. The developed hybrid schemes are tested within the simulation environment of the flexible manipulator with and without payload. The performances of the control schemes are evaluated in terms of input tracking capability and vibration suppression of the flexible manipulator. Initially, a collocated PD utilising the hub-angle and hub-velocity feedback signals is used as a feedback controller. Subsequently, to achieve uniform performance in the presence of a payload, a collocated adaptive control is designed based on pole-assignment self-tuning control scheme. Lastly, a comparative assessment of the performance of the hybrid control schemes is presented.
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Verginis, Christos. "Planning and Control of Cooperative Multi-Agent Manipulator-Endowed Systems." Licentiate thesis, KTH, Reglerteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-223243.

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Multi-agent planning and control is an active and increasingly studied topic of research, with many practical applications, such as rescue missions, security, surveillance, and transportation. More specifically, cases that involve complex manipulator-endowed systems  deserve extra attention due to potential complex cooperative manipulation tasks and their interaction with the environment. This thesis addresses the problem of cooperative motion- and task-planning of multi-agent and multi-agent-object systems under complex specifications expressed as temporal logic formulas. We consider manipulator-endowed robotic agents that can coordinate in order to perform, among other tasks, cooperative object manipulation/transportation. Our approach is based on the integration of tools from the following areas: multi-agent systems, cooperative object manipulation, discrete abstraction design of multi-agent-object systems, and formal verification. More specifically, we divide the main problem into three different parts.The first part is devoted to the control design for the formation control of a team of rigid-bodies, motivated by its application to cooperative manipulation schemes. We propose decentralized control protocols such that desired position and orientation-based formation between neighboring agents is achieved. Moreover, inter-agent collisions and connectivity breaks are guaranteed to be avoided. In the second part, we design continuous control laws explicitly for the cooperative manipulation/transportation of an object by a team of robotic agents. Firstly, we propose robust decentralized controllers for the trajectory tracking of the object's center of mass.  Secondly, we design model predictive control-based controllers for the transportation of the object with collision and singularity constraints. In the third part, we design discrete representations of multi-agent continuous systems and synthesize hybrid controllers for the satisfaction of complex tasks expressed as temporal logic formulas. We achieve this by combining the results of the previous parts and by proposing appropriate trajectory tracking- and potential field-based continuous control laws for the transitions of the agents among the discrete states. We consider teams of unmanned aerial vehicles and mobile manipulators as well as multi-agent-object systems where the specifications of the objects are also taken into account.Numerical simulations and experimental results verify the claimed results.

QC 20180219

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Azad, A. K. M. "Analysis and design of control mechanisms for flexible manipulator systems." Thesis, University of Sheffield, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.312307.

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Books on the topic "Underwater manipulator control systems"

1

Antonelli, Gianluca. Underwater robots: Motion and force control of vehicle-manipulator systems. Berlin: Springer, 2003.

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Antonelli, Gianluca. Underwater robots: Motion and force control of vehicle-manipulator systems. Berlin: Springer, 2003.

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Snow, Edward Ramsey. Advances in grasping and vehicle contact identification: Analysis, design and testing of robust methods for underwater robot manipulation. Cambridge, Mass: Massachusetts Institute of Technology, 1999.

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Tokhi, M. O. Control of flexible manipulator systems. Sheffield: University of Sheffield, Dept. ofAutomatic Control and Systems Engineering, 1994.

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Abdallah, C. T. (Chaouki T.) and Dawson D. M, eds. Robot manipulator control: Theory and practice. 2nd ed. New York: Marcel Dekker, 2004.

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Lewis, Frank L. Robot manipulator control: Theory and practice. 2nd ed. New York: Marcel Dekker, 2004.

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Liu, Yong. On sliding mode control of hydraulic servo systems and a manipulator. Lappeenranta, Finland: Lappeenranta University of Technology, 2002.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Book chapters on the topic "Underwater manipulator control systems"

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Zhou, Shizhao, Zheng Chen, and Shiqiang Zhu. "Sliding Mode Control for Underwater Multi-DoF Hydraulic Manipulator." In Intelligent Autonomous Systems 17, 854–66. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-22216-0_57.

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Casalino, Giuseppe. "Advanced Manipulation for Underwater Sampling." In Encyclopedia of Systems and Control, 20–28. London: Springer London, 2015. http://dx.doi.org/10.1007/978-1-4471-5058-9_129.

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Casalino, Giuseppe. "Advanced Manipulation for Underwater Sampling." In Encyclopedia of Systems and Control, 1–11. London: Springer London, 2014. http://dx.doi.org/10.1007/978-1-4471-5102-9_129-1.

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Casalino, Giuseppe. "Advanced Manipulation for Underwater Sampling." In Encyclopedia of Systems and Control, 46–54. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-44184-5_129.

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Luo, Weilin, and Hongchao Cong. "Robust NN Control of the Manipulator in the Underwater Vehicle-Manipulator System." In Advances in Neural Networks - ISNN 2017, 75–82. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-59081-3_10.

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Grzejszczak, Tomasz, Artur Babiarz, Robert Bieda, Krzysztof Jaskot, Andrzej Kozyra, and Piotr Ściegienka. "Selection of Methods for Intuitive, Haptic Control of the Underwater Vehicle’s Manipulator." In Advances in Intelligent Systems and Computing, 508–19. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-50936-1_43.

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Tang, Qirong, Yang Hong, Zhenqiang Deng, Daopeng Jin, and Yinghao Li. "Research on Sliding Mode Control of Underwater Vehicle-Manipulator System Based on an Exponential Approach Law." In Lecture Notes in Computer Science, 607–15. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-53956-6_56.

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Zhang, Jianjun, Han Li, Yunzhong Song, Bo Su, and Shasha Li. "The Model Reference Adaptive Impedance Control Scheme in Underwater Manipulator Bilateral Teleoperation System Under Model Uncertainty and External Disturbance." In Lecture Notes in Electrical Engineering, 825–33. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-6203-5_82.

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Antonelli, Gianluca. "SIMURV. A Simulation Package for Underwater Vehicle-Manipulator Systems." In Underwater Robots, 159–63. Berlin, Heidelberg: Springer Berlin Heidelberg, 2003. http://dx.doi.org/10.1007/978-3-662-14387-2_6.

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From, Pål Johan, Jan Tommy Gravdahl, and Kristin Ytterstad Pettersen. "Spacecraft-Manipulator Systems." In Advances in Industrial Control, 325–54. London: Springer London, 2014. http://dx.doi.org/10.1007/978-1-4471-5463-1_11.

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Conference papers on the topic "Underwater manipulator control systems"

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Yang, Chen, He Xu, Xin Li, Haihang Wang, and Fengshu Yu. "Underwater Flexible Manipulator Double-Loop Feedback Control Based on Built-in Binocular Vision and Displacement Sensor." In BATH/ASME 2020 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/fpmc2020-2730.

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Abstract A real-time and effective double-loop feedback control system for underwater flexible manipulators is raised in this paper. The research object is a kind of underwater flexible manipulator driven by McKibben water hydraulic artificial muscle (WHAM) that can grasp, swallow, and disgorge target objects in its interior space. To make up for the lack of flexibility, an underwater flexible manipulator collaborative working strategy is proposed. A more flexible and smaller flexible manipulator is placed inside the flexible manipulator to assist it in performing difficult underwater works. The control system feeds back the position of internal objects through a built-in binocular camera and the working state of the manipulator through displacement sensors. The control system setups including underwater flexible manipulator subsystem, hydraulic drive subsystem, PLC control subsystem, displacement sensor subsystem, built-in binocular vision subsystem, and upper computer subsystem is built. PYTHON-based built-in binocular vision software and C++-based underwater flexible manipulator control software are also developed to facilitate observation and recording. The underwater flexible manipulator collaborative experiment is designed to verify the performance of the control system and the control algorithm.
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Sakagami, Norimitsu, Mizuho Shibata, Sadao Kawamura, Toshifumi Inoue, Hiroyuki Onishi, and Shigeo Murakami. "An attitude control system for underwater vehicle-manipulator systems." In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010). IEEE, 2010. http://dx.doi.org/10.1109/robot.2010.5509800.

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Moon, Jiyoun, Sung-Hoon Bae, and Michael Cashmore. "Meta Reinforcement Learning Based Underwater Manipulator Control." In 2021 21st International Conference on Control, Automation and Systems (ICCAS). IEEE, 2021. http://dx.doi.org/10.23919/iccas52745.2021.9650009.

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Soylu, S., B. J. Buckham, and R. P. Podhorodeski. "Dynamics and control of tethered underwater-manipulator systems." In 2010 OCEANS MTS/IEEE SEATTLE. IEEE, 2010. http://dx.doi.org/10.1109/oceans.2010.5664366.

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Antonelli, G., and S. Chiaverini. "Singularity-free regulation of underwater vehicle-manipulator systems." In Proceedings of the 1998 American Control Conference (ACC). IEEE, 1998. http://dx.doi.org/10.1109/acc.1998.694699.

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Heshmati-Alamdari, Shahab, Charalampos P. Bechlioulis, George C. Karras, and Kostas J. Kyriakopoulos. "Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication." In 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV). IEEE, 2018. http://dx.doi.org/10.1109/auv.2018.8729687.

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Spenneberg, Dirk, Jan Albiez, Frank Kirchner, Jochen Kerdels, and Sascha Fechner. "C-Manipulator: An Autonomous Dual Manipulator Project for Underwater Inspection and Maintenance." In ASME 2007 26th International Conference on Offshore Mechanics and Arctic Engineering. ASMEDC, 2007. http://dx.doi.org/10.1115/omae2007-29202.

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We present the new project C-Manipulator (funded by the German Ministry of Economics (BMWI), Grant No. 03SX231). The goal of C-Manipulator is the development of an autonomous, modular, dual manipulator system for underwater applications. This paper provides an overview over the project. It explains shortly the relevance of autonomous underwater manipulation. Then it describes briefly the state-of-the-art, explains the new vision-based control approach featuring visual servoing techniques and the planned manipulator system design featuring the Sub-C Network. Furthermore, a new developed indoor test-bed using a gantry crane for UUV-simulation is introduced, which will be used to test the manipulator system under realistic conditions and to prepare the system for a final test in the Baltic sea, which is planned for 2009.
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Cataldi, Elisabetta, Stefano Chiaverini, and Gianluca Antonelli. "Cooperative Object Transportation by Two Underwater Vehicle-Manipulator Systems." In 2018 26th Mediterranean Conference on Control and Automation (MED). IEEE, 2018. http://dx.doi.org/10.1109/med.2018.8442760.

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dos Santos, Carlos Henrique, Guilherme Bittencourt, Raul Guenther, and Edson De Pieri. "Redundancy resolution for underwater vehicle-manipulator systems using a fuzzy expert system." In 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. IEEE, 2006. http://dx.doi.org/10.1109/cacsd-cca-isic.2006.4777089.

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Dos Santos, Carlos, Guilherme Bittencourt, Raul Guenther, and Edson Pieri. "Redundancy Resolution for Underwater Vehicle-Manipulator Systems Using A Fuzzy Expert System." In 2006 IEEE International Conference on Control Applications. IEEE, 2006. http://dx.doi.org/10.1109/cca.2006.286042.

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Reports on the topic "Underwater manipulator control systems"

1

Sundstrom, E., J. V. Draper, A. Fausz, and H. Woods. Expert operator preferences in remote manipulator control systems. Office of Scientific and Technical Information (OSTI), June 1995. http://dx.doi.org/10.2172/93656.

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Burks, Thomas F., Victor Alchanatis, and Warren Dixon. Enhancement of Sensing Technologies for Selective Tree Fruit Identification and Targeting in Robotic Harvesting Systems. United States Department of Agriculture, October 2009. http://dx.doi.org/10.32747/2009.7591739.bard.

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The proposed project aims to enhance tree fruit identification and targeting for robotic harvesting through the selection of appropriate sensor technology, sensor fusion, and visual servo-control approaches. These technologies will be applicable for apple, orange and grapefruit harvest, although specific sensor wavelengths may vary. The primary challenges are fruit occlusion, light variability, peel color variation with maturity, range to target, and computational requirements of image processing algorithms. There are four major development tasks in original three-year proposed study. First, spectral characteristics in the VIS/NIR (0.4-1.0 micron) will be used in conjunction with thermal data to provide accurate and robust detection of fruit in the tree canopy. Hyper-spectral image pairs will be combined to provide automatic stereo matching for accurate 3D position. Secondly, VIS/NIR/FIR (0.4-15.0 micron) spectral sensor technology will be evaluated for potential in-field on-the-tree grading of surface defect, maturity and size for selective fruit harvest. Thirdly, new adaptive Lyapunov-basedHBVS (homography-based visual servo) methods to compensate for camera uncertainty, distortion effects, and provide range to target from a single camera will be developed, simulated, and implemented on a camera testbed to prove concept. HBVS methods coupled with imagespace navigation will be implemented to provide robust target tracking. And finally, harvesting test will be conducted on the developed technologies using the University of Florida harvesting manipulator test bed. During the course of the project it was determined that the second objective was overly ambitious for the project period and effort was directed toward the other objectives. The results reflect the synergistic efforts of the three principals. The USA team has focused on citrus based approaches while the Israeli counterpart has focused on apples. The USA team has improved visual servo control through the use of a statistical-based range estimate and homography. The results have been promising as long as the target is visible. In addition, the USA team has developed improved fruit detection algorithms that are robust under light variation and can localize fruit centers for partially occluded fruit. Additionally, algorithms have been developed to fuse thermal and visible spectrum image prior to segmentation in order to evaluate the potential improvements in fruit detection. Lastly, the USA team has developed a multispectral detection approach which demonstrated fruit detection levels above 90% of non-occluded fruit. The Israel team has focused on image registration and statistical based fruit detection with post-segmentation fusion. The results of all programs have shown significant progress with increased levels of fruit detection over prior art.
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