In this paper two explicit force control schemes for underwater vehicle-manipulator systems are presented. The schemes take into account several factors such as uncertainty in the model knowledge, presence of hydrodynamic effects, kinematic redundancy of the system, and poor performance of vehicle's actuation system. The possible occurrence of loss of contact due to vehicle's movement during the task is also considered, and the adoption of an adaptive motion control scheme is investigated to take advantage of dynamic compensation. The proposed control schemes have extensively been tested in numerical simulation runs; the results obtained in a case study are reported to illustrate their performance.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Explicit force control for underwater vehicle-manipulator systems


    Contributors:
    Antonelli, G. (author) / Sarkar, N. (author) / Chiaverini, S. (author)

    Published in:

    Robotica ; 20 , 3 ; 251-260


    Publication date :

    2002


    Size :

    10 Seiten, 37 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    Planning and Control of Underwater Vehicle-Manipulator Systems

    DI VITO, Daniele | BASE | 2020

    Free access

    Modelling and control of underwater vehicle-manipulator systems

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


    Hybrid position/force control of a hydraulic underwater manipulator

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


    A robust interaction control approach for underwater vehicle manipulator systems

    Heshmati-Alamdari, Shahab / Bechlioulis, Charalampos P. / Karras, George C. et al. | BASE | 2018

    Free access