Control of an underwater manipulator mounted for an AUV considering dynamic manipulability

2006 ◽  
Vol 1291 ◽  
pp. 269-272 ◽  
Author(s):  
Makoto Ishitsuka ◽  
Kazuo Ishii
Keyword(s):  
Underwater Manipulator

scholarly journals Implementation of vision based 2-DOF underwater Manipulator

2015 ◽  
Vol 31 ◽  
pp. 03016
Author(s):  
Jinpeng Geng ◽  
Wusheng Chou ◽  
Mingjie Dong
Keyword(s):  
Underwater Manipulator

Meta Reinforcement Learning Based Underwater Manipulator Control

2021 ◽  
Author(s):  
Jiyoun Moon ◽  
Sung-Hoon Bae ◽  
Michael Cashmore
Keyword(s):  
Reinforcement Learning ◽  
Underwater Manipulator ◽  
Manipulator Control

Experimental and Numerical Hydrodynamic Modeling of an Underwater Manipulator

2001 ◽  
Author(s):  
A. Khanicheh ◽  
A. Tehranian ◽  
A. Meghdari ◽  
M. S. Sadeghipour
Keyword(s):  
Drag Coefficient ◽  
Dynamic Modeling ◽  
Hydrodynamic Model ◽  
Degrees Of Freedom ◽  
Added Mass ◽  
Hydrodynamic Modeling ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Underwater Manipulator ◽  
Three Degrees Of Freedom

Abstract This paper presents the kinematics and dynamic modeling of a three-link (3-DOF) underwater manipulator where the effects of hydrodynamic forces are investigated. In our investigation, drag and added mass coefficients are not considered as constants. In contrast, the drag coefficient is a variable with respect to all relative parameters. Experiments were conducted to validate the hydrodynamic model for a one degree-of-freedom manipulator up to a three degrees-of-freedom manipulator. Finally, the numerical and experimental results are compared and thoroughly discussed.

scholarly journals Research on position offset compensation of underwater manipulator

2021 ◽  
Vol 2125 (1) ◽  
pp. 012008
Author(s):  
Shanbin Ren ◽  
Hui Zhang ◽  
Kai Li ◽  
Yujun Cheng ◽  
Xin Liu ◽  
...  
Keyword(s):  
Curve Fitting ◽  
Position Control ◽  
Kinematic Model ◽  
Compensation Method ◽  
Ansys Analysis ◽  
Underwater Manipulator ◽  
Accurate Position ◽  
Offset Compensation

Abstract A compensation method for end position offset of underwater manipulator is presented in this paper. Firstly, the end deformation of the underwater manipulator is obtained by ANSYS analysis, and then the end position offset equation is obtained by MATLAB curve fitting. Finally, the equation is added to the kinematic model of the underwater manipulator, which improves the accuracy of the kinematic model of the underwater manipulator and lays a foundation for the accurate position control of the underwater manipulator.

scholarly journals Hybrid position/force control with sway-disturbance compensation of underwater manipulator.

1989 ◽  
Vol 7 (4) ◽  
pp. 295-306 ◽  
Author(s):  
Kiyoshi IOI ◽  
Katsuhiro ISHIMI ◽  
Kenji ITOH
Keyword(s):  
Force Control ◽  
Disturbance Compensation ◽  
Underwater Manipulator

EMG-Controlled Force Feedback Underwater Manipulator

2018 ◽  
Author(s):  
Shuxin Shen ◽  
Shengming Bai ◽  
Jiankang Xu ◽  
Nan Wang
Keyword(s):  
Force Feedback ◽  
Underwater Manipulator

Tracking control of an underwater manipulator using fractional integral sliding mode and disturbance observer

2020 ◽  
pp. 1-12
Author(s):  
Lijun Han ◽  
Guoyuan Tang ◽  
Ruikun Xu ◽  
Hui Huang ◽  
De Xie
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Fractional Integral ◽  
Controller Design ◽  
Sliding Mode ◽  
Parameter Uncertainties ◽  
Integral Sliding Mode ◽  
Finite Time Stability ◽  
Mode Control ◽  
Underwater Manipulator

In this paper, a fractional integral sliding mode control (FISMC) strategy with a disturbance observer (DO) is proposed for the trajectory tracking problem of the underwater manipulator, under lumped disturbances namely parameter uncertainties and external disturbances. The modified fractional integral sliding mode surface (FISMS) is designed to guarantee the fast convergence of system states. The DO method and the second-order sliding mode control law are used in the controller design, in which the former is introduced to compensate the effect of the lumped disturbances. Also, a saturated function is selected to replace the sign function to attenuate the chattering phenomenon. The stability of the overall closed-loop system is proved via Lyapunov’s finite-time stability theory. Numerical simulations are performed on a 6 degree of freedom (DOF) underwater manipulator. Simulation results demonstrate that the proposed control scheme can achieve better tracking performance and stronger robustness against disturbances, by comparing with the DO-based PD control and the DO-based PID-type linear sliding mode control (SMC).

Sign in / Sign up

Export Citation Format

Share Document