Abstract
This study presents a real-time algorithm for even distributing the torque burden on the parallel manipulator with an autonomous underwater vehicle (AUV) through the cooperation of the AUV and manipulator. For the redundant resolution of the underwater vehicle manipulator system (UVMS), we used the weighting matrix of the weighted pseudo inverse for kinematic and dynamic modeling. We made dynamic and kinematic modeling using the force distribution characteristics of parallel manipulators. Using the parallel manipulator's model, the weighting matrix was changed every second to share the manipulator torque with the AUV. The Taguchi method was used to reduce the calculation time for real-time calculation and to perform valve rotation operations with as little torque as possible even in an underwater environment where it is difficult to determine any cause of errors. To demonstrate the effectiveness of this algorithm, we experimented with valve rotation in water using the UVMS. Analysis of the experimental results revealed that the manipulator torque load was greatly reduced due to the AUV load distribution.
Highlights
Various underwater robots have been developed to control the underwater situations inaccessible to humans
The system using the underwater manipulator attached to the autonomous underwater vehicle (AUV) is called the underwater vehicle manipulator system (UVMS)
Casalino et al studied the issues with manipulator adjustment and the non-holonomic AUV, where the entire system is identified as UVMS manipulation tasks [5]
Summary
Various underwater robots have been developed to control the underwater situations inaccessible to humans. Even if the underwater situation changes rapidly and is unknown, the weighting matrix is calculated based on the Taguchi method at every moment This weighting matrix is selected in the best-case scenario, and the torque calculation and manipulator control are performed. Real-time UVMS torque distribution algorithm based on weighting matrix experiment, the valve was rotated 90 ̊, similar to Bae’s study, and the torque was compared with the case in the previous study where the weighting matrix was fixed. The contribution of this study is to present a method of finding an appropriate weighting matrix in real-time for the weighting matrix of the conventional pseudoinverse-based UVMS collaborative control. Based on the same previous UVMS, we introduce an algorithm that can control the UVMS by selecting an appropriate weight matrix in real-time that can lower the manipulator torque even when the underwater environment changes rapidly. The dynamics of UVMS are summarized as
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