Motion coordination of underwater vehicle-manipulator systems subject to drag optimization

A motion coordination algorithm for an autonomous underwater vehicle-manipulator system (UVMS) is proposed. This algorithm generates the desired trajectories for both the vehicle and the manipulator in such a way that the total drag effect on the system is minimized. Resolution of kinematic redundancy of the system is performed at the acceleration level so that this algorithm can be incorporated into the system dynamics. The dynamics of the UVMS is modeled using quasi-Lagrange approach. A state-space formulation of the system along with a model-based controller design for a trajectory following task is also presented. The results from computer simulations are used to demonstrate the effectiveness of this proposed method in reducing the drag on the system.

[1]  Tzyh Jong Tarn,et al.  A dynamic model of an underwater vehicle with a robotic manipulator using Kane's method , 1996, Auton. Robots.

[2]  Scott McMillan,et al.  Efficient dynamic simulation of an underwater vehicle with a robotic manipulator , 1995, IEEE Trans. Syst. Man Cybern..

[3]  Yoshihiko Nakamura,et al.  Nonholonomic motion control of an autonomous underwater vehicle , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[4]  Carlos Canudas de Wit,et al.  Robust nonlinear control of an underwater vehicle/manipulator system with composite dynamics , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[5]  Marc J. Richard,et al.  Dynamic Analysis of a Manipulator in a Fluid Environment , 1994, Int. J. Robotics Res..

[6]  Gianluca Antonelli,et al.  Task-priority redundancy resolution for underwater vehicle-manipulator systems , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[7]  Timothy W. McLain,et al.  Experiments in the coordinated control of an underwater arm/vehicle system , 1996, Auton. Robots.

[8]  R. Lakshmi,et al.  A coordinated control of an underwater vehicle and robotic manipulator , 1991, J. Field Robotics.

[9]  A. J. Healey,et al.  Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles , 1993 .

[10]  Jean-Jacques E. Slotine,et al.  Robust trajectory control of underwater vehicles , 1985 .

[11]  Adi Ben-Israel,et al.  Generalized inverses: theory and applications , 1974 .

[12]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[13]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .

[14]  Leonard Meirovitch,et al.  Methods of analytical dynamics , 1970 .

[15]  Panos Y. Papalambros,et al.  Principles of Optimal Design: Modeling and Computation , 1988 .

[16]  Tamaki Ura,et al.  Neural network system for online controller adaptation and its application to underwater robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[17]  K. R. Goheen,et al.  Multivariable self-tuning autopilots for autonomous and remotely operated underwater vehicles , 1990 .

[18]  Yoshihiko Nakamura,et al.  Nonlinear tracking control of autonomous underwater vehicles , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[19]  Tzyh Jong Tarn,et al.  Dynamics and control of an underwater robotic vehicle with an n-axis manipulator , 1996 .