The article deals with the problem of developing a system of automatic formation of a variable speed of movement of an underwater multilink manipulator along complex spatial trajectories. This system allows to maintain the specified accuracy of operations in the conditions of dynamic positioning of an unmanned underwater vehicle near the object of work. An additional contour for forming the movement speed of the manipulator grip is introduced. This contour allows to consider the dynamic capabilities of MM electric drives. At the same time, the capabilities of the vehicle to accurately hold in a given position under the conditions of external disturbing influences created by a working manipulator are taken into account. As a result, the movement speed of the grip is automatically reduced when the vehicle cannot effectively stabilize its position for certain degrees of mobility due to design features. Numerical simulation of the operation of the synthesized system was performed. The model of a PUMA-type manipulator installed on the unmanned underwater vehicle was used. The vehicle was stabilized in hovering mode. The results of the simulation in Simulink confirmed the operability of the developed control system and showed the effectiveness of its implementation for improving the accuracy of underwater manipulation operations.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Automatic Speed Control System for Manipulator Mounted on Underwater Vehicle


    Beteiligte:


    Erscheinungsdatum :

    04.09.2022


    Format / Umfang :

    484509 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Vehicle-mounted Bluetooth manipulator

    CHEN RUIWU | Europäisches Patentamt | 2015

    Freier Zugriff

    Development of an underwater manipulator mounted for an AUV

    Ishitsuka, M. / Ishii, K. | Tema Archiv | 2005


    Prescribed Performance Control of Vehicle-Mounted Flexible Manipulator

    Xing, Xueyan / Liu, Jinkun | Springer Verlag | 2021


    Planning and Control of Underwater Vehicle-Manipulator Systems

    DI VITO, Daniele | BASE | 2020

    Freier Zugriff

    Modelling and control of underwater vehicle-manipulator systems

    Schjoelberg, I. / Fossen, T. I. / Southampton Institute et al. | British Library Conference Proceedings | 1994