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Explicit force control for underwater vehicle-manipulator systems

Published online by Cambridge University Press:  07 May 2002

Gianluca Antonelli ,
Nilanjan Sarkar  and
Stefano Chiaverini
Gianluca Antonelli
Affiliation:
Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell'Informazione e Matematica Industriale, Università degli Studi di Cassino, Via G. Di Biasio 43, 03043 Cassino (FR) (Italy)antonelli@unicas.it
Nilanjan Sarkar
Affiliation:
Department of Mechanical Engineering, Vanderbilt University, Box 1592 Station B, Nashville, TN 37235 (USA)nilanjan.sarkar@vanderbilt.edu
Stefano Chiaverini
Affiliation:
Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell'Informazione e Matematica Industriale, Università degli Studi di Cassino, Via G. Di Biasio 43, 03043 Cassino (FR) (Italy)chiaverini@unicas.it
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Abstract

In this paper two explicit force control schemes for underwater vehicle-manipulator systems are presented. The schemes take into account several factors such as uncertainty in the model knowledge, presence of hydrodynamic effects, kinematic redundancy of the system, and poor performance of vehicle's actuation system. The possible occurrence of loss of contact due to vehicle's movement during the task is also considered, and the adoption of an adaptive motion control scheme is investigated to take advantage of dynamic compensation. The proposed control schemes have extensively been tested in numerical simulation runs; the results obtained in a case study are reported to illustrate their performance.

Keywords

Underwater roboticsForce controlRedundant robotsUnderwater vehicle manipulator systems
Type
Research Article
Information
Robotica , Volume 20 , Issue 3 , May 2002 , pp. 251 - 260
Copyright
2002 Cambridge University Press

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