CISE Research Instrumentation: Accurate Control of Manipulators Using Inertial Sensors

9729814云小平海军研究生院 CISE研究仪器：使用惯性传感器精确控制水下机械手 该研究仪器补助金用于购买两个MotionPak惯性传感器，两个数字陀螺罗盘和一个水速传感器，这将使以下项目成为可能：-水下航行器和船上机械手的协调，以及-粗糙地形上自主地面车辆的牵引力控制。 建议的研究项目的目的是调查水下机器人机械手系统的控制和协调。惯性传感器、水速传感器和数字罗盘被集成，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机器人与机械手的动力学相互作用。 由于海底环境的不确定性和缺乏水动力学模拟数据，通过物理实验来验证理论算法是至关重要的。 拟议的仪器使得有可能进行物理实验，使用拟议的半干半湿的方法。 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、低成本的水下实验方法。 集成的传感器系统（用车轮编码器代替水速传感器）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。

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.