Discontinuous control of an underwater manipulator by a simplex of constant control vectors

Author

Bartolini, G. ; Coccoli, M.

Author_Institution

Dept. of Electr. & Electron. Eng., Cagliari Univ., Italy

Volume

4

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

3242

Abstract

The aim of this paper is that of summarizing the experience of design and realization of a home-made robotic finger based on nonconventional ideas. The device that we present in this paper is the exploitation of the concepts expressed in the context of an EC funded project called AMADEUS, in which the elephant-trunk principle is used for the implementation of an underwater gripper that we actuated by mean of high-bandwidth electrohydraulic devices working with oil at low pressure. The whole system is then controlled with a sliding mode based technique. The special manipulator based on the use of such fingers as described in this paper is devoted to delicate deep underwater sampling operations

Keywords

electrohydraulic control equipment; marine systems; redundant manipulators; sampled data systems; variable structure systems; AMADEUS; constant control vector simplex; delicate deep underwater sampling operations; discontinuous control; elephant-trunk principle; high-bandwidth electrohydraulic devices; robotic finger; sliding mode control; underwater gripper; underwater manipulator; Communication system control; Control systems; Fingers; Grippers; Humans; Manipulators; Petroleum; Robots; Sampling methods; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.827769

Filename

827769