Title :
A unified force control approach to autonomous underwater manipulation
Author :
Cui, Yong ; Sarkar, Nilanjan
Author_Institution :
Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA
Abstract :
A unified force control scheme for an autonomous underwater robotic system is proposed. This robotic system is composed of a six degree-of-freedom autonomous underwater vehicle (AUV) and a robotic arm that is mounted on the AUV. First, a dynamic model for the whole underwater manipulator system considering the hydrodynamic effects is derived. This model is then used to implement the proposed unified force control approach, which combines impedance control with hybrid position/force control by means of fuzzy switching to perform autonomous underwater manipulation. This approach combines the advantages of impedance control with hybrid control and has the potential to be effective in underwater environment. Extensive computer simulations are performed to verify the efficacy of the proposed control scheme, and the results are presented
Keywords :
force control; fuzzy control; hydrodynamics; manipulator dynamics; position control; underwater vehicles; autonomous underwater manipulator; dynamic model; force control; fuzzy switching; hydrodynamics; impedance control; position control; underwater robotics; underwater vehicle; Control systems; Force control; Hydrodynamics; Impedance; Manipulator dynamics; Motion control; Robots; Uncertainty; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844772