Motion and force control with a linear force error filter for the manipulator of an underwater vehicle-manipulator system
Motion and force control with a linear force error filter for the manipulator of an underwater vehicle-manipulator system
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DOI：
10.1007/s10015-021-00708-9
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发表时间：
2021-10
影响因子：
0.9
通讯作者：
Y. Taira;S. Sagara;M. Oya
中科院分区：
文献类型：
--
作者：
Y. Taira;S. Sagara;M. Oya
本文研究了一种水下机器人的运动和力控制方案，每个水下机器人都配备了一个机械手。针对这种类型的水下机器人，已经开发了几种运动和力控制器。它们大多是在假设每个机器人本体的控制能力与每个机械手的控制能力相同的情况下设计的。然而，文献中指出，对于一个真实的水下机器人来说，它的机器人本体控制比它的机械手控制更具挑战性，因为机器人本体的惯性要大得多，而且比机械手有更多不准确的位置传感器和执行器。因此，即使在每个控制系统的车辆控制器中实施一种性能良好的先进控制律，也可能无法达到其原始的控制性能。本文针对机器人本体由性能较差的运动控制器独立控制的情况，设计了一种机械手的运动和力控制器。它的特点是(1)考虑到机器人本体包括其执行器(即船舶推进器)的动力学特性，(2)在存在有界扰动的情况下确保稳定性，(3)包括一个线性力误差滤波器，与现有的非线性力误差滤波器相比，它可以方便地进行稳定性分析。数值模拟结果与理论结果吻合较好。
This paper deals with a motion and force control scheme for underwater robots, each of which is equipped with a manipulator. Several motion and force controllers for this type of underwater robot have been developed. Most of them were designed under the assumption that the control capability of each robot body is the same as that of each manipulator. However, it has been pointed out in the literature that for a real underwater robot, its robot body control is more challenging than its manipulator control, because the robot body has much larger inertia, and many more inaccurate position sensors and actuators than the manipulator. Therefore, even if an advanced control law with good performance is implemented in the vehicle controller of each control system, its original control performance may not be achieved. In this paper, we develop a motion and force controller for the manipulator under the condition that the robot body is independently controlled by a motion controller with poor performance. Its features are (1) to be designed in consideration of the dynamics of the robot body including its actuators (i.e., marine thrusters), (2) to ensure the stability properties in the presence of bounded disturbances, and (3) to include a linear force error filter, which can facilitate the stability analysis in comparison with existing nonlinear force error filters. Furthermore, the theoretical results were supported by those obtained in numerical simulations.