Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2009.15.4.426

Redundancy Resolution and Robust Control of Underwater Vehicle-Manipulator Systems with Minimizing Restoring Moment  

Han, Jong-Hui (포항공과대학교 기계공학과)
Chung, Wan-Kyun (포항공과대학교 기계공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.4, 2009 , pp. 426-432 More about this Journal
Abstract
In this paper, redundancy resolution of UVMS (underwater vehicle-manipulate. system) is addressed. In general, UVMS has redundant DOFs (degrees of freedom) as many as DOFs of manipulator and these redundant DOFs can be used to optimize the configuration of UVMS while satisfying given tasks. We propose a performance index for redundancy resolution which minimizes the restoring moments of UVMS. The restoring moment can cause unintentional change of poses of UVMS. If the restoring moments remain small, control effort for keeping the poses of UVMS decreases. This means that energy consumption can be reduced by minimizing the restoring moments during conducting tasks. Proposed performance measure is optimized by gradient projection method. Generated trajectories by this redundancy resolution are tracked by robust PID controller. Numerical simulations are presented to demonstrate performance of the proposed algorithm.
Keywords
underwater vehicle-manipulator system; redundancy resolution;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 J. Kim, J. Han, W. K. Chung, and J. Yuh, 'Accurate thruster modeling with non-parallel ambient flow for underwater vehicles,' Proc. of the 2005 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, pp. 1737-1742, 2005   DOI
2 J. Park, W. K. Chung, and Y. Youm, 'Unified motion specification and control of kinematically redundant manipulators,' Proc. of IEEE Intl. Conf. on Robotics and Automation, pp. 3945-3951, 2000   DOI
3 B. Nemec and L. Zlajpah, 'Implementation of force control on redundant robot,' Proc. of the I998 IEEE/RSJ IntI. Conf. on Intelligent Robots and Systems, pp. 1314-1319, 1998   DOI
4 T. Fossen, Marine Control Systems: Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles, Marine Cybernetics, 2002
5 J. Jang, J. Han, Y. Choi, and W. K. Chung, 'Development of a small underwater vehicle-manipulator system for tasks in shallow water,' the 13th Intl Conf. on Advanced Robotics, pp. 320-325, 2007
6 A. Healey and D. Lienard, 'Multivariable sliding-mode control for autonomous diving and steering of unmanned underwater vehicles,' IEEE Journal of Oceanic engineering, vol. 18, no. 3, pp. 327-339, July 1993   DOI   ScienceOn
7 J. Park, W. K. Chung, and Y. Youm, 'Computation of gradient of manipulability for kinematically redundant manipulators including dual manipulators system,' The Institute of Control, Automation and Systems Engineering, vol. 1, no. 1, pp. 8-15, June 1999.   과학기술학회마을
8 G. Marini, S. K. Choi, and J. Yuh, 'Underwater autonomous manipulation for intervention missions AUVs,' Ocean Engineering, vol. 36, no. 1, pp. 15-23, 2009   DOI   ScienceOn
9 J. Kim, G. Marani, W. K. Chung, and J. Yuh, 'Task reconstruction method for real-time singularity avoidance for robotic manipulators,' Advanced Robotics. vol. 20, no. 4, pp. 453-481, 2006   DOI
10 S. Chiaverini, 'Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators,' IEEE Transactions on Robotics and Automation, vol. 13, no. 3, pp. 398-410, June 1997   DOI   ScienceOn
11 J. Hollerbach and K. Suh 'Redundancy resolution of manipulators through torque optimization,' IEEE Journal of Robotics and Automation. vol. 3, no. 4, pp. 308-316, Aug 1987   DOI   ScienceOn
12 G. Antonelli, Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems, Springer, 2003
13 N. Sarkar and T. Podder, 'Coordinated motion planning and control of autonomous underwater vehicle - manipulator systems subject to drag optimization,' IEEE Journal of Oceanic Engineering. vol. 26, no. 2, pp. 228-239, Apr. 2001   DOI   ScienceOn
14 Y. Choi and W. K. Chung, PID Trajectory Tracking Control for Mechanical Systems, Springer, 2004
15 J. Han and W. K. Chung, 'Redundancy resolution for underwater vehicle-manipulator systems with minimizing restoring moments,' Proc. of the 2007 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, pp. 3522-3527, 2007   DOI