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.
Original language | English |
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Pages (from-to) | 150-159 |
Number of pages | 10 |
Journal | Robotics and Autonomous Systems |
Volume | 100 |
Early online date | 2 Dec 2017 |
DOIs | |
Publication status | Published - Feb 2018 |
Keywords
- Control
- Hybrid control
- Model based
- Robust control
- Task space
- Underwater manipulation
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- General Mathematics
- Computer Science Applications
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Matthew Walter Dunnigan
- School of Engineering & Physical Sciences - Associate Professor
- School of Engineering & Physical Sciences, Institute of Sensors, Signals & Systems - Associate Professor
Person: Academic (Research & Teaching)