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Abstract
An autonomous surface manipulator system (ASMS) is a novel intelligent system consisting of a robotic manipulator and an unmanned surface vehicle (USV). Due to the waves and the motions of the manipulators, ASMSs experience rolling while performing tasks, reducing their stability and working accuracy. Hence, two methods are proposed for improving the anti-rolling abilities of ASMSs based on their mathematical models. The first method is to solve the inverse kinematics issues of the manipulator with the objective of minimizing the moment between the manipulator and its base, and to design angle-time curves for each joint using seven-order polynomials. Experiment results demonstrate that the motion optimization of manipulators can reduce the maximum and stable roll angles of the USV by over 40%. The second method involves assembling a moving-mass system into the ASMS and controlling the motion of the moving mass using a dual-loop PID controller. The moving-mass system can significantly reduce the roll angle of USV caused by waves and the operations of manipulators, as validated by simulation on a proposed accurate dynamic model. The research work can greatly enhance the operation stability of ASMSs.
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