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Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification
Tang, Chong1,2; Wang, Yu1; Wang, Shuo1,2; Wang, Rui1,2; Tan, Min1
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
2018-06-01
Volume65Issue:6Pages:4861-4870
SubtypeArticle
AbstractThis paper addresses the achievement of floating autonomous manipulation of the underwater biomimetic vehicle-manipulator system (UBVMS). A practical vehicle-manipulator coordinated plan and control methodology of the UBVMS for autonomous interventions are designed. First, the system configuration is introduced, and the optimal work space is confirmed. Then, the control framework of the UBVMS mainly consisting of online motion planning, multitask kinematic control, dynamic feedforward compensation, and adaptive parameter undulatory control for autonomous manipulation is presented. The online motion planning method with resort to tracking differentiator is developed to produce desired task trajectory and reference rate. The singularity-robust multitask kinematic control algorithm with state observers is designed to obtain system reference velocity. The couple influence on the vehicle induced by the presence of the manipulator is described as the dynamic feedforward compensation signal to reduce undesired waggle of the UBVMS. Adaptive parameter modifier of the biomimetic propulsor is designed to satisfy multifarious performance requirements in different motion phases. Finally, pool experiments in multiple scenarios for autonomous grasping manipulation are conducted to verify the effectiveness and adaptability of the developed coordinated plan and control strategy.
KeywordAutonomous Underwater Manipulation Autonomous Vehicles Unmanned Underwater Vehicles
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TIE.2017.2772148
WOS KeywordINTERVENTION MISSIONS ; PROJECT ; AUV
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61773378 ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61421004) ; 61703401 ; 61333016)
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000425618900042
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21717
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Tang, Chong,Wang, Yu,Wang, Shuo,et al. Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(6):4861-4870.
APA Tang, Chong,Wang, Yu,Wang, Shuo,Wang, Rui,&Tan, Min.(2018).Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(6),4861-4870.
MLA Tang, Chong,et al."Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.6(2018):4861-4870.
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