Underwater Robots - Gianluca Antonelli.pdf

More documents

Recommendations

Info

128 6. Kinematic Control of UVMSs Fig. 6.15. Case study n. 3. Final configuration; the roll and pitch angles are now kept close to zero by exploiting the redundancy with the singularity-robust task priority algorithm vehicle attitude [deg] 20 10 0 −10 −20 0 10 20 30 40 50 time [s] Fig. 6.16. Case study n. 3. Vehicle attitude in terms of Euler angles ψ B A θ φ C
6.6 Fuzzy Inverse Kinematics 129 It is underlined that some of the above items are critical; the alignment with the current, however, can besignificant inorder to reduce power consumption [20]. As an example, in the previous case study, the use of aweight factor requires now alarger movement ofthe manipulator. This can lead to the occurrence of kinematic singularities. In fact, if the trajectory is assigned in real-time, it is possible that the manipulator isasked to move to the border of its workspace, where the possibility toexperience akinematic singularity is high. Also, when the manipulator isoutstretched, mechanical joint limits can be encountered. Inthe simulations, the following joint limits have been assumed: q min =[− 100 − 210 − 210 − 150 − 80 − 170] T deg q max = [100 30 10 150 80 170] T deg . In Figure 6.17, the minimum distance to such limits for the previous case study isshown. It can beobserved that the manipulator hits amechanical limit at t ≈ 35 s. d[deg] 50 40 30 20 10 0 0 10 20 30 O 40 50 time [s] Fig. 6.17. Case study n. 3. Minimum distance of the 6joints from their mechanical limits. It can be observed that large movements of the manipulator may cause hitting of the joint limits In order to match all the constraints of such problem, asolution as been proposed based on the use of the singularity-robust task priority merged with fuzzy techniques. Let consider the following tasks: • End-effector position/orientation. The primary task is given, asfor the previous simulations by the end-effector position and orientation. The corresponding Jacobian J p is J given in (2.68);
Page 1 and 2:
Springer Tracts in Advanced Robotic
Page 3 and 4:
Gianluca Antonelli Underwater Robot
Page 5 and 6:
Editorial Advisory Board EUROPE Her
Page 7 and 8:
Elalocomotiva sembrava fosse un mos
Page 9 and 10:
Acknowledgements The contributions
Page 11 and 12:
Preface to the Second Edition The p
Page 13 and 14:
XVIII Preface to the First Edition
Page 15 and 16:
XX Preface tothe First Edition mani
Page 17 and 18:
XXII Notation η q =[η T 1 ε T η
Page 19 and 20:
XXIV Notation ˜x error variable de
Page 21 and 22:
XXVI Contents 3. Dynamic Control of
Page 23 and 24:
XXVIIIContents A. Mathematical mode
Page 25 and 26:
2 1. Introduction Maybe the first i
Page 27 and 28:
4 1. Introduction (Massachusetts, U
Page 29 and 30:
6 1. Introduction Fig. 1.4. Coordin
Page 31 and 32:
8 1. Introduction Fig. 1.5. Pig, ma
Page 33 and 34:
10 1. Introduction An example of cr
Page 35 and 36:
12 1. Introduction Fig. 1.8. Romeo
Page 37 and 38:
2. Modelling ofUnderwater Robots
Page 39 and 40:
2.2 Rigid Body’s Kinematics 17 Th
Page 41 and 42:
J T k,oqJ k,oq = 1 4 I 3 , that all
Page 43 and 44:
5. compute the quaternion Q by the
Page 45 and 46:
2.3 Rigid Body’s Dynamics 23 Let
Page 47 and 48:
2.4 Hydrodynamic Effects 25 τ 1 =
Page 49 and 50:
C A ( ν )=− C T A ( ν ) ∀ ν
Page 51 and 52:
2.4 Hydrodynamic Effects 29 effects
Page 53 and 54:
2.5 Gravity and Buoyancy 2.5 Gravit
Page 55 and 56:
2.6 Thrusters’ Dynamics 33 Fig. 2
Page 57 and 58:
2.7 Underwater Vehicles’ Dynamics
Page 59 and 60:
y z 2.8 Kinematics of Manipulators
Page 61 and 62:
2.9 Dynamics ofUnderwater Vehicle-M
Page 63 and 64:
2.9 Dynamics ofUnderwater Vehicle-M
Page 65 and 66:
2.11 Identification 43 f e = K ( x
Page 67 and 68:
3. Dynamic Control of 6-DOF AUVs 3.
Page 69 and 70:
3.2 Earth-Fixed-Frame-Based, Model-
Page 71 and 72:
o x z o b z b x b 3.3 Earth-Fixed-F
Page 73 and 74:
3.4 Vehicle-Fixed-Frame-Based, Mode
Page 75 and 76:
o o b y x y b x b 3.5 Model-Based C
Page 77 and 78:
3.6 Mixed Earth/Vehicle-Fixed-Frame
Page 79 and 80:
3.7 Jacobian-Transpose-Based Contro
Page 81 and 82:
3.8 Comparison Among Controllers 59
Page 83 and 84:
3.9 Numerical Comparison Among the
Page 85 and 86:
3.9 Numerical Comparison Among the
Page 87 and 88:
force [N] moment [Nm] 20 10 0 −10
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Page 97 and 98: 3.9 Numerical Comparison Among the
Page 99 and 100: 3.9 Numerical Comparison Among the
Page 101 and 102: 80 4. Fault Detection/Tolerance Str
Page 113 and 114: 5. Experiments of Dynamic Control o
Page 115 and 116: 5.3 Experiments of Dynamic Control
Page 117 and 118: [m] [m] 5 4 3 2 1 0 0 100 200 300 4
Page 119 and 120: 5.3 Experiments of Dynamic Control
Page 121 and 122: 5.4 Experiments of Fault Tolerance
Page 123 and 124: [deg] 120 100 80 60 40 20 0 −20 5
Page 125 and 126: 6. Kinematic Control of UVMSs “.
Page 127 and 128: 6.2 Kinematic Control 107 UVMS. Thi
Page 129 and 130: 6.2 Kinematic Control 109 singulari
Page 131 and 132: 6.2 Kinematic Control 111 case of t
Page 133 and 134: 6.5 Singularity-Robust Task Priorit
Page 141 and 142: 6.6 Fuzzy Inverse Kinematics 121 It
Page 143 and 144: Simulations 6.6 Fuzzy Inverse Kinem
Page 145 and 146: 6.6 Fuzzy Inverse Kinematics 125 Fi
Page 147: vehicle attitude [deg] 20 10 0 −1
Page 151 and 152: [-] 1 0.8 0.6 0.4 0.2 0 close 0 20
Page 155 and 156: joint positions 1-3 [deg] joint pos
Page 159 and 160: e.e. position error [m] 0.02 0.01 0
Page 161 and 162: 7. Dynamic Control of UVMSs 7.1 Int
Page 163 and 164: 7.2 Feedforward Decoupling Control
Page 165 and 166: 7.2 Feedforward Decoupling Control
Page 167 and 168: 7.4 Nonlinear Control for UVMSs wit
Page 169 and 170: 7.5 Non-regressor-Based Adaptive Co
Page 171 and 172: 7.6 Sliding Mode Control 7.6 Slidin
Page 173 and 174: 7.6 Sliding Mode Control 153 u = B
Page 175 and 176: 7.6 Sliding Mode Control 155 Practi
Page 177 and 178: 7.7 Adaptive Control 157 of gravity
Page 179 and 180: Let us consider the scalar function
Page 181 and 182: 7.7 Adaptive Control 161 The vehicl
Page 183 and 184: [deg] 3 2.5 2 1.5 1 0.5 7.8 Output
Page 185 and 186: 7.8 Output Feedback Control 165 It
Page 187 and 188: 7.8 Output Feedback Control 167 whe
Page 189 and 190: 7.8 Output Feedback Control 169 C T
Page 191 and 192: 7.8 Output Feedback Control 171 wit
Page 193 and 194: [m] [deg] [deg] 0.1 0.05 0 −0.05
Page 195 and 196: [m] [-] [deg] x 10−3 10 8 6 4 2 0
Page 197 and 198: [Nm] [Nm] [Nm] 500 0 −500 50 0
Page 199 and 200:
[m] [-] [deg] x 10−3 10 8 6 4 2 0
Page 201 and 202:
[N] [N] [N] 20 0 −20 40 20 0 −2
Page 203 and 204:
[Nm] [Nm] [Nm] 50 0 −50 350 300 2
Page 205 and 206:
7.9 Virtual Decomposition Based Con
Page 207 and 208:
Page 209 and 210:
Page 211 and 212:
Page 213 and 214:
Page 215 and 216:
joint torques [Nm] 200 0 −200 −
Page 217 and 218:
e.e. orientation error [deg] 2 1 0
Page 219 and 220:
vehicle position [m] 0.1 0.05 0 −
Page 221 and 222:
8. Interaction Control of UVMSs 8.1
Page 223 and 224:
8.3 Impedance Control 203 8.2 Dexte
Page 225 and 226:
8.4 External Force Control 205 The
Page 227 and 228:
8.4 External Force Control 207 be f
Page 229 and 230:
8.4 External Force Control 209 that
Page 231 and 232:
8.4 External Force Control 211 UVMS
Page 233 and 234:
[N] [m] 350 300 250 200 150 100 50
Page 235 and 236:
[deg] [deg] 10 5 0 −5 −10 50 40
Page 237 and 238:
8.5 Explicit Force Control 217 wher
Page 239 and 240:
8.5 Explicit Force Control 219 wher
Page 241 and 242:
[m] [deg] 0.2 0.1 0 −0.1 8.5 Expl
Page 243 and 244:
[m] [deg] 0.2 0.1 0 −0.1 −0.2 0
Page 245 and 246:
226 9. Coordinated Control of Plato
Page 247 and 248:
Page 249 and 250:
Page 251 and 252:
Page 253 and 254:
Page 255 and 256:
Page 257 and 258:
238 10. Concluding Remarks control
Page 259 and 260:
240 A. Mathematical models ⎡ 6 .
Page 261 and 262:
242 A. Mathematical models using th
Page 263 and 264:
244 A. Mathematical models L = 2 m
Page 265 and 266:
References 1. Alekseev Y.K., Kosten
Page 267 and 268:
References 249 28. Antonelli G.and
Page 269 and 270:
References 251 62. Caccia M., Indiv
Page 271 and 272:
References 253 96. Cui Y. and Sarka
Page 273 and 274:
References 255 134. Garcia R., Puig
Page 275 and 276:
References 257 168. Kato N. and Lan
Page 277 and 278:
References 259 mera. In: IEEE Inter
Page 279 and 280:
References 261 235. Podder T.K. and
Page 281 and 282:
References 263 273. Solvang B., Den
Page 283:
References 265 310. Yoerger D.R., S
show all

Underwater Robots - Gianluca Antonelli.pdf

Create successful ePaper yourself

Delete template?

Save as template?