Academic literature on the topic 'Underwater manipulator control systems'
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Journal articles on the topic "Underwater manipulator control systems"
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.
Full textAntonelli, 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.
Full textAntonelli, 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.
Full textXu, 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.
Full textCui, 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.
Full textSoylu, 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.
Full textWei, 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.
Full textKabanov, 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.
Full textLapierre, 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.
Full textФиларетов, 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.
Full textDissertations / Theses on the topic "Underwater manipulator control systems"
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.
Full textKorkmaz, Ozan. "Modeling And Control Of Autonomous Underwater Vehicle Manipulator Systems." Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12615051/index.pdf.
Full textEuler 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.
Barbalata, Corina. "Modelling and control of lightweight underwater vehicle-manipulator systems." Thesis, Heriot-Watt University, 2017. http://hdl.handle.net/10399/3279.
Full textElghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.
Full textThe 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
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.
Full textUndervattensrobotik 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.
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.
Full textBraganza, David. "Control techniques for robot manipulator systems with modeling uncertainties." Connect to this title online, 2007. http://etd.lib.clemson.edu/documents/1193079734/.
Full textMohamed, Zaharuddin. "Dynamic modelling and control of a flexible manipulator." Thesis, University of Sheffield, 2003. http://etheses.whiterose.ac.uk/15085/.
Full textVerginis, 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.
Full textQC 20180219
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.
Full textBooks on the topic "Underwater manipulator control systems"
Antonelli, Gianluca. Underwater robots: Motion and force control of vehicle-manipulator systems. Berlin: Springer, 2003.
Find full textAntonelli, Gianluca. Underwater robots: Motion and force control of vehicle-manipulator systems. Berlin: Springer, 2003.
Find full textSnow, 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.
Find full textTokhi, M. O. Control of flexible manipulator systems. Sheffield: University of Sheffield, Dept. ofAutomatic Control and Systems Engineering, 1994.
Find full textAbdallah, C. T. (Chaouki T.) and Dawson D. M, eds. Robot manipulator control: Theory and practice. 2nd ed. New York: Marcel Dekker, 2004.
Find full textLewis, Frank L. Robot manipulator control: Theory and practice. 2nd ed. New York: Marcel Dekker, 2004.
Find full textLiu, Yong. On sliding mode control of hydraulic servo systems and a manipulator. Lappeenranta, Finland: Lappeenranta University of Technology, 2002.
Find full textBrown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.
Find full textBrown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.
Find full textBrown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.
Find full textBook chapters on the topic "Underwater manipulator control systems"
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.
Full textCasalino, 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.
Full textCasalino, 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.
Full textCasalino, 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.
Full textLuo, 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.
Full textGrzejszczak, 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.
Full textTang, 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.
Full textZhang, 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.
Full textAntonelli, 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.
Full textFrom, 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.
Full textConference papers on the topic "Underwater manipulator control systems"
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.
Full textSakagami, 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.
Full textMoon, 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.
Full textSoylu, 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.
Full textAntonelli, 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.
Full textHeshmati-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.
Full textSpenneberg, 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.
Full textCataldi, 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.
Full textdos 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.
Full textDos 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.
Full textReports on the topic "Underwater manipulator control systems"
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.
Full textBurks, 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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