Underwater Robots - Gianluca Antonelli.pdf

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202 8. Interaction Control of UVMSs effectively obtained by closing an external force feedback loop around aposition/velocity feedback loop [101], since the output of the force controller becomes the reference input to the standard motion controller of the manipulator. Nevertheless, many manipulation tasks require simultaneous control of both the end-effector position and the contact force. This in turn demands exact knowledge of the environment geometry: the force reference, in fact, must be consistent with the contact constraints [202]. Afirst strategy is the hybrid force/position control [239]: the force and position controllers are structurally decoupled according to the analysis of the geometric constraints to be satisfied during the task execution. These control schemes require adetailed knowledge of the environment geometry, and therefore are unsuitable for use in poorly structured environments and for handling the occurrence of unplanned impacts. To overcome this problem, the parallel force/position control can be adopted [79]. In this case, position and force loops are closed in all task-space directions, while structural properties of the controller ensure that aproperly assigned force reference value isreached at steady state. Since the two loops are not decoupled, adrawback of parallel control isthe mutual disturbance of position and force variables during the transient. Most force control schemes proposed in the literature donot take into account the possible presence of kinematic redundancy in the robotic system, which isalways the case of UVMSs. Reference [171] presents aunified approachfor motion andforce control, extending the formulation to kinematically redundant manipulators. Reference [226] proposes two control schemes, the extended hybrid control and the extended impedance control, and some experimental results for a3-link manipulator are provided. In [172] the Operational Space Formulation is experimentally applied to acoordinated task of two mobile manipulators. Reference [213] presents an hybrid force control, in which redundancy isused together with the dynamically consistent pseudo-inverse. Reference [219] proposes an extended hybrid impedance control. Finally, [211] develops aspatial impedance control for redundant manipulators, and reports experiments with a7-DOF industrial manipulator. All the above schemes are based on dynamic compensation. However, while dynamic model parameters of land-based manipulators are usually well known, this is not the case of UVMSs for which the application of these schemes is not straightforward. In [165] avery specific problem is approach, afloating vehicle, with a manipulator mounted on board, uses its thrusters and the resorting forces in order to apply the required force at the end effector.
8.3 Impedance Control 203 8.2 Dexterous Cooperating <strong>Underwater</strong> 7-DOF Manipulators AMADEUS (Advanced MAnipulator for DEep <strong>Underwater</strong> Sampling) was a project funded by the European Community within the MAST III framework program on Marine Technology development. One of the project’s objectives includes the realization of aset-up composed by two 7-DOF Ansaldo manipulators to be used incooperative mode [71]. The controller has been developed by G. Casalino et al. and itisbased onahierarchy of interacting functional subsystems. At the lowest level there isthe joint motion control, grouped inafunctional scheme defined VLLC (Very Low Level Control), one for each manipulator, that receive asinput the desired joint velocities and outputs the real joint positions. In case ofhigh bandwidth loop this block behaves asan integrator. On the top there isthe LLC (Low Level Control) that receives as input the desired homogeneous transformation for the end-effector and output the desired joint velocities. Details on the handling of the kinematic singularities can be found in [71, 72] and reference therein. At an higher level works the MLC (Medium Level Control) that operates completely in the operational space and outputs the desired homogeneous transformation matrix for the LLC. This block has been designed to interact with an operator via an human-computer interface and thus implements specific attention to the use of aexpressly developed mouse. Moreover, the case of manipulators cooperation is properly taken into account. The above approach has been developed using the RealTime Workshop tool of the Matlab c� software package. The controllers are based onCmodules running on distributed CPUs with VxWorks operative system properly synchronized at 5ms. Figure 8.1 reports aphoto taken during an experiment run in apool, the two manipulators have afixed base and cooperate in the transportation of a rigid object. This experiment has been the unique of this kind ever reported in the literature. In [282] the coordinated control of several UVMSs holding arigid object is also taken into account byproperly extending the UVMS dynamic control proposed in [281]. 8.3 Impedance Control Y. Cui et al. ,in[94], propose an application for aclassical impedance controller [149, 254]. It is required that the desired impedance at the end effector is described by the following
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Springer Tracts in Advanced Robotic
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Gianluca Antonelli Underwater Robot
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Editorial Advisory Board EUROPE Her
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Elalocomotiva sembrava fosse un mos
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Acknowledgements The contributions
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Preface to the Second Edition The p
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XVIII Preface to the First Edition
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XX Preface tothe First Edition mani
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XXII Notation η q =[η T 1 ε T η
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XXIV Notation ˜x error variable de
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XXVI Contents 3. Dynamic Control of
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XXVIIIContents A. Mathematical mode
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2 1. Introduction Maybe the first i
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4 1. Introduction (Massachusetts, U
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6 1. Introduction Fig. 1.4. Coordin
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8 1. Introduction Fig. 1.5. Pig, ma
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10 1. Introduction An example of cr
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12 1. Introduction Fig. 1.8. Romeo
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2. Modelling ofUnderwater Robots
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2.2 Rigid Body’s Kinematics 17 Th
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J T k,oqJ k,oq = 1 4 I 3 , that all
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5. compute the quaternion Q by the
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2.3 Rigid Body’s Dynamics 23 Let
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2.4 Hydrodynamic Effects 25 τ 1 =
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C A ( ν )=− C T A ( ν ) ∀ ν
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2.4 Hydrodynamic Effects 29 effects
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2.5 Gravity and Buoyancy 2.5 Gravit
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2.6 Thrusters’ Dynamics 33 Fig. 2
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2.7 Underwater Vehicles’ Dynamics
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y z 2.8 Kinematics of Manipulators
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2.9 Dynamics ofUnderwater Vehicle-M
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2.9 Dynamics ofUnderwater Vehicle-M
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2.11 Identification 43 f e = K ( x
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3. Dynamic Control of 6-DOF AUVs 3.
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3.2 Earth-Fixed-Frame-Based, Model-
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o x z o b z b x b 3.3 Earth-Fixed-F
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3.4 Vehicle-Fixed-Frame-Based, Mode
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o o b y x y b x b 3.5 Model-Based C
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3.6 Mixed Earth/Vehicle-Fixed-Frame
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3.7 Jacobian-Transpose-Based Contro
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3.8 Comparison Among Controllers 59
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3.9 Numerical Comparison Among the
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force [N] moment [Nm] 20 10 0 −10
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80 4. Fault Detection/Tolerance Str
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5. Experiments of Dynamic Control o
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5.3 Experiments of Dynamic Control
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[m] [m] 5 4 3 2 1 0 0 100 200 300 4
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5.3 Experiments of Dynamic Control
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5.4 Experiments of Fault Tolerance
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[deg] 120 100 80 60 40 20 0 −20 5
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6. Kinematic Control of UVMSs “.
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6.2 Kinematic Control 107 UVMS. Thi
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6.2 Kinematic Control 109 singulari
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6.2 Kinematic Control 111 case of t
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6.5 Singularity-Robust Task Priorit
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6.6 Fuzzy Inverse Kinematics 121 It
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Simulations 6.6 Fuzzy Inverse Kinem
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6.6 Fuzzy Inverse Kinematics 125 Fi
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vehicle attitude [deg] 20 10 0 −1
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6.6 Fuzzy Inverse Kinematics 129 It
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[-] 1 0.8 0.6 0.4 0.2 0 close 0 20
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joint positions 1-3 [deg] joint pos
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e.e. position error [m] 0.02 0.01 0
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7. Dynamic Control of UVMSs 7.1 Int
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7.2 Feedforward Decoupling Control
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7.2 Feedforward Decoupling Control
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7.4 Nonlinear Control for UVMSs wit
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7.5 Non-regressor-Based Adaptive Co
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References 255 134. Garcia R., Puig
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References 257 168. Kato N. and Lan
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References 259 mera. In: IEEE Inter
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References 261 235. Podder T.K. and
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References 263 273. Solvang B., Den
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References 265 310. Yoerger D.R., S
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