Tele-operated hydraulic underwater manipulators are commonly used to perform remote underwater intervention tasks such as weld inspection or mating of connectors. Automation of this tasks to use tele-assistance requires a suitable hybrid position/force control scheme, to specify simultaneously the robot motion and contact forces. Classical linear control does not allow for the highly non-linear and time varying robot dynamics in this situation. Adequate control performance requires more advanced controllers. This paper presents and compares two different advanced hybrid control algorithms. The first is based on a modified Variable Structure Control(VSC-HF) with a virtual environment, and the second uses a multivariable self-tuning adaptive controller. A direct comparision of the two proposed control schemes is performed in simulation, using a model of the dynamics of a hydraulic underwater manipulator (a Slingsby T49) in contact with a surface. These comparisions look at the performance of the controllers under a wide variety of operating conditions, including different environment stiffnesses, positions of the robot and dynamic parameters. Conclusions are drawn based on the relative performance of each controller and on the practicalities of the proposed schemes.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A comparision between robust and adaptive hybrid position/force control schemes for hydraulic underwater manipulators


    Beteiligte:
    Lane, D.M. (Autor:in) / Dunnigan, M.W. (Autor:in) / Clegg, A.C. (Autor:in) / Dauchez, P. (Autor:in) / Cellier, L. (Autor:in)


    Erscheinungsdatum :

    1997


    Format / Umfang :

    10 Seiten, 13 Bilder, 1 Tabelle, 13 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Robust Hybrid Position/Force Control for Robot Manipulators

    Narikiyo, T. / Schmidt, G. / Akuta, T. | British Library Online Contents | 1993


    Hybrid position/force control of a hydraulic underwater manipulator

    Dunnigan, M.W. / Lane, D.M. / Clegg, A.C. et al. | Tema Archiv | 1996


    Hybrid Position/Force Control of Robot Manipulators

    Raibert, M. H. / Craig, J. J. | NTRS | 1982


    Hybrid Position/Force Control of Robot Manipulators Based on Second Derivatives of Position and Force

    Komada, S. / Ishida, M. / Ohnishi, K. et al. | British Library Online Contents | 1996


    Hybrid Position/Force Control of Robot Manipulators Based on Second Derivatives of Position and Force

    Komada, S. / Ishida, M. / Ohnishi, K. et al. | British Library Online Contents | 1993