权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

CISE Research Instrumentation: Accurate Control of Manipulators Using Inertial Sensors

CISE 研究仪器：使用惯性传感器精确控制机械手

基本信息

批准号：
9729814
负责人：
Xiaoping Yun
金额：
$ 3.2万
依托单位：
Naval Postgraduate School
依托单位国家：
美国
项目类别：
Interagency Agreement
财政年份：
1998
资助国家：
美国
起止时间：
1998-03-01 至 1999-02-28
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=9729814&HistoricalAwards=false
关键词：
CISE Research Instrumentation Accurate Control

项目摘要

9729814 Yun, Xiaoping Naval Postgraduate School CISE Research Instrumentation: Accurate Control of Underwater Manipulators Using Inertial Sensors This research instrumentation grant contributes to the purchase of two MotionPak inertial sensors, two digital gyro compasses, and one water speed sensor, which will enable the following projects:- Coordination of an Underwater Vehicle and an Onboard Manipulator, and - Traction Control of an Autonomous Ground Vehicle on Rough Terrains. The objective of the proposed research projects is to investigate control and coordination of an underwater vehicle-manipulator system. An inertial sensor, water speed sensor, and digital compass are integrated to provide accurate estimates of vehicle motions. A novel nonlinear feedback control algorithm is developed to compensate for vehicle-manipulator dynamic interactions. Because of the uncertain nature of undersea environments and lack of hydrodynamic modeling data, it is crucial to validate theoretical algorithms by physical experiments. The proposed instrumentation makes it possible to conduct physical experiments using the proposed half-dry half-wet approach. The experiments not only validate the control algorithm proposed in this research, but also establish an entirely new, cost-effective underwater experimentation procedure. The integrated sensor system (replacing the water speed sensor by wheel encoders) is also applied to an all-terrain land vehicle for wheel slip estimation and for improved traction control.

CISE研究仪器：使用惯性传感器精确控制水下操纵器这项研究仪器补助金用于购买两个MotionPak惯性传感器，两个数字陀螺仪和一个水速传感器，这将使以下项目成为可能：-水下航行器和机载操纵器的协调，以及-在崎岖地形上自主地面航行器的牵引力控制。提出的研究项目的目的是研究水下航行器-操纵器系统的控制和协调。集成了惯性传感器、水速传感器和数字罗盘，以提供对车辆运动的准确估计。提出了一种新的非线性反馈控制算法来补偿车辆-机械手的动态交互作用。由于海底环境的不确定性和缺乏水动力建模数据，通过物理实验验证理论算法至关重要。所提出的仪器使使用所提出的半干半湿方法进行物理实验成为可能。实验不仅验证了本文提出的控制算法，而且建立了一种全新的、具有成本效益的水下实验流程。集成传感器系统（用车轮编码器取代水速传感器）也应用于全地形陆地车辆，用于车轮滑移估计和改进牵引力控制。