Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification
Floating Autonomous Manipulation of the Underwater Biomimetic Vehicle-Manipulator System: Methodology and Verification
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DOI：
10.1109/tie.2017.2772148
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发表时间：
2018-06
影响因子：
7.7
通讯作者：
Chong Tang;Yu Wang;Shuo Wang;Rui Wang;M. Tan
中科院分区：
文献类型：
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作者：
Chong Tang;Yu Wang;Shuo Wang;Rui Wang;M. Tan
研究了水下仿生机器人-机械手系统(UBVMS)漂浮自主操作的实现。设计了一种实用的无人驾驶机器人自主干预的车手协调规划与控制方法。首先，介绍了系统配置，确定了最优工作空间。在此基础上，提出了UBVMS的控制框架，主要包括在线运动规划、多任务运动控制、动态前馈补偿和自主操作参数自适应波动控制。提出了一种利用跟踪微分器进行在线运动规划的方法，以产生期望的任务轨迹和参考率。设计了具有状态观测器的奇异鲁棒多任务运动控制算法，以获得系统的参考速度。机械手的存在对车辆产生的耦合影响被描述为减小UBVMS不期望摆动的动态前馈补偿信号。设计了仿生推进器的自适应参数调节器，以满足不同运动阶段的各种性能要求。最后，进行了多场景自主抓取操作的水池实验，验证了所提出的协调规划和控制策略的有效性和适应性。
This paper addresses the achievement of floating autonomous manipulation of the underwater biomimetic vehicle-manipulator system (UBVMS). A practical vehicle-manipulator coordinated plan and control methodology of the UBVMS for autonomous interventions are designed. First, the system configuration is introduced, and the optimal work space is confirmed. Then, the control framework of the UBVMS mainly consisting of online motion planning, multitask kinematic control, dynamic feedforward compensation, and adaptive parameter undulatory control for autonomous manipulation is presented. The online motion planning method with resort to tracking differentiator is developed to produce desired task trajectory and reference rate. The singularity-robust multitask kinematic control algorithm with state observers is designed to obtain system reference velocity. The couple influence on the vehicle induced by the presence of the manipulator is described as the dynamic feedforward compensation signal to reduce undesired waggle of the UBVMS. Adaptive parameter modifier of the biomimetic propulsor is designed to satisfy multifarious performance requirements in different motion phases. Finally, pool experiments in multiple scenarios for autonomous grasping manipulation are conducted to verify the effectiveness and adaptability of the developed coordinated plan and control strategy.