Underwater manipulation tasks carried out by divers or by large work class remotely operated vehicles (ROV) are expensive and logistically difficult and therefore are currently found primarily in the oil and gas industry. An alternative to today's standard techniques are miniaturized underwater vehicle manipulator systems (UVMS). Due to the miniaturization of the system, the manipulator to vehicle ratio is not identical to that of large work class ROVs and coupling effects must be taken into account to ensure good controller performance. This paper presents the results of a highly automated pick and place manipulation task with such a vehicle. For the control of the system a quaternion based tracking controller with model based feed forward path, which includes a ROV plus a manipulator model. Furthermore a scaling function based trajectory generation algorithm is applied. The pick and place experiment was carried out with the assumption of different prior knowledge levels. The evaluation and comparison of the results from the different experiments show a significant improvement of the control performance in the case of utilization of the ROV and manipulator model in the feed forward path of the controller.
Control of a Small Underwater Vehicle Manipulator System - A Highly Automated Pick and Place Experiment
OCEANS 2024 - Singapore ; 1-8
2024-04-15
6235091 byte
Conference paper
Electronic Resource
English
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