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.
Automatic Speed Control System for Manipulator Mounted on Underwater Vehicle
2022-09-04
484509 byte
Conference paper
Electronic Resource
English
Development of an underwater manipulator mounted for an AUV
Tema Archive | 2005
|Prescribed Performance Control of Vehicle-Mounted Flexible Manipulator
Springer Verlag | 2021
|Modelling and control of underwater vehicle-manipulator systems
British Library Conference Proceedings | 1994
|