Coordinated Motion Control and Auto-Grasp Planning of AUVMS Based Multi-Sensors Fusion

Abstract:

This paper describes a new motion control and auto-grasp scheme for an autonomous underwater vehicle-manipulator system-AUVMS, which comprises of a 6 DOF vehicle and a 3 DOF electric-manipulator considering inherent kinematic redundancy under the hydrodynamic forces. Different from traditional methods, a sliding mode controller was designed to implement the control of the trajectory tracking of the manipulator’s end-effectors without the whole modeling of the AUVMS. A fuzzy regulator was added to obtain the best response characteristic of the system and avoid the significant high frequency chattering. The numerical simulations are consistent with the above theoretical analysis. The electric underwater manipulator control system is based network and consisted of three embedded PC/104 computers which are used for servo control, task plan and target sensor respectively. Computer simulations are performed to verify the efficacy of the motion control scheme. An auto-grasp scheme of the deep ocean electric manipulator based multi-sensors is also presented. Underwater test results of coordinate motion control scheme confirm the fuzzy-sliding controller’s ability to operate in a higher disturbance condition.

• Periodical: Applied Mechanics and Materials (Volume 288)
• Pages: 130-136
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.288.130
• Online since: February 2013
• Authors: Kun Yu, Song Liu, Zhi Chun Deng
• Keywords: AUVMS, Coordinate Motion Control, Multi-Sensors

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