A unified adaptive force control of underwater vehicle-manipulator systems (UVMS)

Author

Cui, Yong ; Yuh, Junku

Author_Institution

Dept. of Mech. & Ind. Eng., Massachusetts Univ., Amherst, MA, USA

Volume

1

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

553

Abstract

A unified adaptive force control approach for underwater vehicle manipulator systems (UVMS) is proposed in this paper. First, a direct adaptive impedance control scheme is introduced. This controller is further incorporated into the unified force control strategy, which combines adaptive impedance control with hybrid position/force control by means of fuzzy switching to perform autonomous underwater manipulation. This approach combines the advantages of impedance control with hybrid control without knowing the accurate dynamic model of the system and has the potential to be effective in underwater environment. Extensive computer simulations are performed to verify the efficacy of the proposed control scheme based on a UVMS model with 6 DOF autonomous underwater vehicle and a 3 DOF robot arm that is mounted on the vehicle.

Keywords

adaptive control; force control; fuzzy control; manipulators; position control; underwater vehicles; adaptive force control; adaptive impedance control scheme; fuzzy switching; hybrid position/force control; robot arm; underwater vehicle-manipulator systems; unified force control strategy; Adaptive control; Computer simulation; Force control; Fuzzy control; Impedance; Programmable control; Remotely operated vehicles; Robots; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1250687

Filename

1250687