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.


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    Title :

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


    Contributors:
    Lane, D.M. (author) / Dunnigan, M.W. (author) / Clegg, A.C. (author) / Dauchez, P. (author) / Cellier, L. (author)


    Publication date :

    1997


    Size :

    10 Seiten, 13 Bilder, 1 Tabelle, 13 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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