Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification

doi:10.1109/TIE.2017.2772148

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification
	Tang, Chong1,2 ; Wang, Yu1 ; Wang, Shuo1,2 ; Wang, Rui1,2 ; Tan, Min1
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2018-06-01
卷号	65 期号:6 页码:4861-4870
关键词	Autonomous Underwater Manipulation Autonomous Vehicles Unmanned Underwater Vehicles
DOI	10.1109/TIE.2017.2772148
文献子类	Article
英文摘要	This paper addresses the achievement of floating autonomous manipulation of the underwater biomimetic vehicle-manipulator system (UBVMS). A practical vehicle-manipulator coordinated plan and control methodology of the UBVMS for autonomous interventions are designed. First, the system configuration is introduced, and the optimal work space is confirmed. Then, the control framework of the UBVMS mainly consisting of online motion planning, multitask kinematic control, dynamic feedforward compensation, and adaptive parameter undulatory control for autonomous manipulation is presented. The online motion planning method with resort to tracking differentiator is developed to produce desired task trajectory and reference rate. The singularity-robust multitask kinematic control algorithm with state observers is designed to obtain system reference velocity. The couple influence on the vehicle induced by the presence of the manipulator is described as the dynamic feedforward compensation signal to reduce undesired waggle of the UBVMS. Adaptive parameter modifier of the biomimetic propulsor is designed to satisfy multifarious performance requirements in different motion phases. Finally, pool experiments in multiple scenarios for autonomous grasping manipulation are conducted to verify the effectiveness and adaptability of the developed coordinated plan and control strategy.
WOS关键词	INTERVENTION MISSIONS ; PROJECT ; AUV
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
WOS记录号	WOS:000425618900042
资助机构	National Natural Science Foundation of China(61773378 ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61421004) ; 61703401 ; 61333016)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/21717]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Tang, Chong,Wang, Yu,Wang, Shuo,et al. Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(6):4861-4870.
APA	Tang, Chong,Wang, Yu,Wang, Shuo,Wang, Rui,&Tan, Min.(2018).Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(6),4861-4870.
MLA	Tang, Chong,et al."Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.6(2018):4861-4870.