Universitat de Girona
Marie Sklodowska-Curie grant agreement no. 750063
This paper presents a control architecture for an underwater vehicle-manipulator system (UVMS) to enable simultaneous tracking of end-effector configuration and contact force during floating-base manipulation. The main feature of the architecture is its combination of a task-priority (TP) kinematic control algorithm with a custom force control strategy, based on impedance (admittance) control. The TP algorithm used in the work includes recent treatment of equality and inequality tasks as well as original concepts to handle operation in singular configurations of the system. In the force control part the impedance concept is extended to allow for direct control over the value of exerted force and torque. Additional feed-forward signal is used to ensure stable contact. The performance of the control architecture is demonstrated by experiments in a test tank, with GIRONA500 I-AUV performing pipe inspection
This work is part of a project titled ”Force/position control system to enable compliant manipulation from a floating IAUV”, which received funding from the European Union’s Horizon 2020 research and innovation programme, under the Marie Sklodowska-Curie grant agreement no. 750063
English
Vehicles submergibles; Submersibles; Robots submarins; Underwater robots; Robots autònoms; Autonomous robots
Institute of Electrical and Electronics Engineers (IEEE)
info:eu-repo/semantics/altIdentifier/doi/10.1109/IROS.2018.8593542
info:eu-repo/semantics/altIdentifier/isbn/978-1-5386-8094-0
info:eu-repo/semantics/altIdentifier/eissn/2153-0866
info:eu-repo/grantAgreement/EC/H2020/750063/EU/Force/position control system to enable compliant manipulation from a floating I-AUV/IAUVcontrol
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