Abstract
An Underwater Vehicle-Manipulator System (UVMS) can be applied to pick up and carry objects for autonomous manipulation in the water. However, it is difficult to control the motion of the whole system because the movement of a manipulator affects the motion of the vehicle and vice versa. Additionally, a lack of information about the object, such as the shape and inertia, makes motion control even more difficult. In the current paper, a motion control algorithm of the UVMS with redundancy was developed to guarantee the stability robustness when the mass information of the objects is not available. In order to generate the joint trajectories of the manipulator, a redundancy resolution was performed to minimize the restoring moments acting on the vehicle. This means the propulsion energy for controlling the vehicle’s motion can be reduced. To control the motion of the system with an unknown parameter, a controller based on the sliding mode theory has been designed. Finally, the effectiveness of the proposed method was verified through a series of simulation for a 3DOF vehicle-3DOF manipulator system.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
Abbreviations
- [u, v, w]:
-
translational velocity vector of the vehicle
- [p, q, r]:
-
rotational velocity vector of the vehicle
- MRB :
-
rigid body inertia matrix
- MA :
-
added mass and inertia matrix
- CRB :
-
rigid body Coriolis and centripetal matrix
- DA :
-
hydrodynamic damping matrix
- Gv :
-
restoring forces and moments vector
- τv :
-
external forces and moments vector for the vehicle
- R:
-
rotation matrix
- η:
-
position vector of the vehicle w.r.t. the Earth-fixed frame
- q:
-
joint variable vector of the manipulator system
- τm :
-
joint torque vector of the manipulator system
- F:
-
thruster force vector
- J:
-
Jacobian matrix
- JP :
-
performance index function
- rCG :
-
position vector to the center of mass
- rCB :
-
position vector to the center of buoyancy
References
Antonelli, G. and Chiaverini, S., “Task-Priority Redundancy Resolution for Underwater Vehicle-Manipulator Systems,” Proc. of the IEEE International Conference on Robotics and Automation, pp. 768–773, 1998.
Antonelli, G., “Underwater Robots Motion and Force Control of Vehicle-Manipulator Systems,” Springer, pp. 109–111, 2006.
Craig, J. J., “Introduction to Robotics: Mechanics and Control,” Addison-Wesley, pp. 196–200, 1989.
Dunnigan, M. W. and Russell, G. T., “Evaluation and Reduction of the Dynamic Coupling between a Manipulator and an Underwater Vehicle,” IEEE Journal of Oceanic Engineering, vol. 23, no. 3, pp. 260–273, 1998.
Fossen, T. I., “Guidance and Control of Ocean Vehicles,” John Wiley & Sons, pp. 5–56, 1994.
Han, J., Park, J., and Chung, W. K., “Robust Coordinated Motion Control of an Underwater Vehicle-Manipulator System with Minimizing Restoring Moments,” Ocean Engineering, vol. 38, no. 10, pp. 1197–1206, 2011.
Hollerbach, J. and Suh, K., “Redundancy Resolution of Manipulators through Torque Optimization,” IEEE Journal of Robotics and Automation, vol. 3, no. 4, pp. 308–316, 1987.
Kim, J., Marani, G., Chung, W. K. and Yuh, J., “Task Reconstruction Method for Real-Time Singularity Avoidance for Robotic Manipulators,” Advanced Robotics, vol. 20, no. 4, pp. 453–481, 2006.
Marani, G., Choi, S. K., and Yuh, J., “Underwater Autonomous Manipulation for Intervention Missions AUVs,” Ocean Engineering, vol. 36, no. 1, pp. 15–23, 2009.
Mohan, S. and Kim, J. H., “Indirect Adaptive Control of an Autonomous Underwater Vehicle-Manipulator System for Underwater Manipulation Tasks,” Ocean Engineering, vol. 54, pp. 233–243, 2012.
Sakar, N. and Podder, T., “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, 2001.
Schjølberg, I. and Fossen, T. I., “Modelling and Control of Underwater Vehicle-Manipulator Systems,” Proc. of the 3rd Conference on Marine Craft Maneuvering and Control, pp. 45–57, 1994.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Kim, D., Choi, HS., Kim, JY. et al. Trajectory generation and sliding-mode controller design of an underwater vehicle-manipulator system with redundancy. Int. J. Precis. Eng. Manuf. 16, 1561–1570 (2015). https://doi.org/10.1007/s12541-015-0206-y
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12541-015-0206-y