Underwater Robots - Gianluca Antonelli.pdf

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1. Introduction One of the first efforts to design anunderwater vehicle is due toLeonardo Da Vinci. It has been found inthe Codice Atlantico (Codex Atlanticus), written between 1480 and 1518,together with the development of somediver’s devices (see Figure 1.1 and 1.2 where the corresponding page of the Codex is reported). Legends say that Leonardo worked onthe idea ofanunderwater military machine and that hefurther destroyed byhimself the results judged too dangerous. Fig. 1.1. Page of the Codice Atlantico (around 1500) containing the draw ofthe manned underwater vehicle developed by Leonardo Da Vinci G. Antonelli: Underwater Robots, 2nd Edition, STAR 2, pp. 1–13, 2006. © Springer-Verlag Berlin Heidelberg 2006
2 1. Introduction Maybe the first idea ofanunderwater machine is from Aristotle; following the legend he built amachine: skaphe andros (boat-man) that allowed Alexander the Great (Alexander III of Macedon, 356 − 323 b. C.) tostay indeep for at least half aday during the war ofTiro in 325 b.C.This is unrealistic, of course, also considering that the Archimedes’s law was still tobecome a reality (around 250 b.C.). Fig. 1.2. Particular of the page of the Codice Atlantico containing the draw ofthe manned underwater vehicle developed by Leonardo Da Vinci In August, the 4th, 2005, inthe Pacific sea, in front ofthe Kamchatka, at adepth of 200meters, aRussian manned submarine, the AS-28 ,got stacked into the cables of aunderwater radar; atthat moment, seven men were in the vehicle. One day later aBritish Remotely Operated Vehicle (ROV), Scorpio, was there and, after another day of operations, it was possible to cut the cables thus allowing the submarine to surface safely. Inaddition than exceptional operations like the one mentioned, underwater robots can be used to accomplish missions such assea bottom and pipeline survey, cable maintenance, off-shore structures’ monitoring and maintenance, collect/release of biological surveys. Currently, most of the operations mentioned above are achieved via manned underwater vehicles orremotely operated vehicles; in case of manipulation tasks, moreover, those are performed resorting toremotely operated master-slave systems. The strong limit of the use of manned vehicles isthe enormous cost and risk in working in such anhostile environment; the daily operating cost is larger than 8000 € ( ≈ 10000 $) [323]. The aim of the research istoprogressively make itpossible to perform such missions in acompletely autonomous way.
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: XXVIIIContents A. Mathematical mode
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
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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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7.6 Sliding Mode Control 7.6 Slidin
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7.6 Sliding Mode Control 153 u = B
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7.6 Sliding Mode Control 155 Practi
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7.7 Adaptive Control 157 of gravity
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Let us consider the scalar function
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7.7 Adaptive Control 161 The vehicl
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[deg] 3 2.5 2 1.5 1 0.5 7.8 Output
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7.8 Output Feedback Control 165 It
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7.8 Output Feedback Control 167 whe
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7.8 Output Feedback Control 169 C T
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7.8 Output Feedback Control 171 wit
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[m] [deg] [deg] 0.1 0.05 0 −0.05
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[m] [-] [deg] x 10−3 10 8 6 4 2 0
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[Nm] [Nm] [Nm] 500 0 −500 50 0
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[m] [-] [deg] x 10−3 10 8 6 4 2 0
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[N] [N] [N] 20 0 −20 40 20 0 −2
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[Nm] [Nm] [Nm] 50 0 −50 350 300 2
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7.9 Virtual Decomposition Based Con
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joint torques [Nm] 200 0 −200 −
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e.e. orientation error [deg] 2 1 0
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vehicle position [m] 0.1 0.05 0 −
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8. Interaction Control of UVMSs 8.1
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8.3 Impedance Control 203 8.2 Dexte
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8.4 External Force Control 205 The
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8.4 External Force Control 207 be f
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8.4 External Force Control 209 that
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8.4 External Force Control 211 UVMS
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[N] [m] 350 300 250 200 150 100 50
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[deg] [deg] 10 5 0 −5 −10 50 40
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8.5 Explicit Force Control 217 wher
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8.5 Explicit Force Control 219 wher
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[m] [deg] 0.2 0.1 0 −0.1 8.5 Expl
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[m] [deg] 0.2 0.1 0 −0.1 −0.2 0
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226 9. Coordinated Control of Plato
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238 10. Concluding Remarks control
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240 A. Mathematical models ⎡ 6 .
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242 A. Mathematical models using th
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244 A. Mathematical models L = 2 m
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References 1. Alekseev Y.K., Kosten
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References 249 28. Antonelli G.and
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References 251 62. Caccia M., Indiv
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References 253 96. Cui Y. and Sarka
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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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