Experimental study on control of underwater vehicle-manipulator systems

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For underwater vehicle-manipulator systems (UVMS) control methods have been proposed. However the experimental studies are only a few. Main purpose of this research project is development of the control methods for UVMS, and verifies the methods by experiments using an UVMS.The developed control methods for UVMS are follows : 1. Digital resolved acceleration control (RAC). 2. Continuous and discrete time RACs to reduce the computational time using dynamic equation. 3. Neural network control. 4. Disturbance compensation control.Effectiveness of the methods are verified and demonstrated by using an underwater robot with 2 link manipulator. Furthermore, development of two measurement systems for the vehicle and manipulator is the secondary purpose. First system with three mini gyroscopes is developed for vehicle attitude measurement. Since output signal of the gyroscope is concerned with angular velocity, a calculation method of roll-pitch-yaw angles is derived in discrete-time domain. Effectiveness of the system is examined using the underwater robot described above. Next measurement system is a kind of stereovision systems for object manipulation of the manipulator equipped on the vehicle. This system is consisting of two CCD cameras and measures the relative position and attitude of the object with respect to the vehicle. Since the two cameras can pan, tilt, and slide using stepping motors, the both camera can contact in parallel. Therefore, both camera images can be corresponded easily. Experimental results considering refraction between air and water show the effectiveness of the measurement system.