Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks
Author:
Cely Juan S.ORCID, Pérez Bayas Miguel ÁngelORCID, Carpio MarcoORCID, García Cena Cecilia ElisabetORCID, Sintov AvishaiORCID, Saltaren RoqueORCID
Abstract
In underwater environments, ensuring people’s safety is complicated, with potentially life-threatening outcomes, especially when divers have to work in deeper conditions. To improve the available solutions for working with robots in this kind of environment, we propose the validation of a control strategy for robots when taking objects from the seabed. The control strategy proposed is based on acceleration feedback in the model of the system. Using this model, the reference values for position, velocity and acceleration are estimated, and then the position error signal can be computed. When the desired position is obtained, it is possible to then obtain the position error. The validation was carried out using three different objects: a ball, a bottle, and a plant. The experiment consisted of using this control strategy to take those objects, which the robot carried for a moment to validate the stabilisation control and reference following the control in terms of angle and depth. The robot was operated by a pilot from outside of the pool and was guided using a camera and sonar in a teleoperated way. As an advantage of this control strategy, the model upon which the robot is based is decoupled, allowing control of the robot for each uncoupled plane, this being the main finding of these tests. This demonstrates that the robot can be controlled by a control strategy based on a decoupled model, taking into account the hydrodynamic parameters of the robot.
Funder
Spanish Government Projects RoboCity2030 DIH-CM Madrid Robotics Digital Innovation Hub Programas Actividades I + D en la Comunidad de Madrid Structural Funds of the EU
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Reference33 articles.
1. Marani, G., and Yuh, J. (2014). Introduction to Autonomous Manipulation: Case Study with an Underwater Robot, SAUVIM, Springer. Springer Tracts in Advanced Robotics. 2. Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention;IEEE Robot. Autom. Mag.,2013 3. Mazzeo, A., Aguzzi, J., Calisti, M., Canese, S., Angiolillo, M., Allcock, A.L., Vecchi, F., Stefanni, S., and Controzzi, M. (2022). Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions. Sensors, 22. 4. Mazzeo, A., Aguzzi, J., Calisti, M., Canese, S., Vecchi, F., Stefanni, S., and Controzzi, M. (2022). Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers. Sensors, 22. 5. From, P.J., Gravdahl, J.T., and Pettersen, K.Y. (2014). Vehicle-Manipulator Systems: Modeling for Simulation, Analysis, and Control, Springer.
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献
|
|