CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification
Tang, Chong1,2; Wang, Yu1; Wang, Shuo1,2; Wang, Rui1; Tan, Min1
Source PublicationIEEE Transactions on Industrial Electronics
2018-06
Volume65Issue:6Pages:4861-4870
Abstract

This 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 Underwatermanipulation Autonomous Vehicles Unmanned Underwater Vehicles
Indexed BySCI
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23547
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang, Shuo
Affiliation1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
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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