Application of Adaptive and Switching Control for Contact Maintenance of a Robotic Vehicle-Manipulator System for Underwater Asset Inspection.

ABSTRACT: The aim of this study is to design an adaptive controller for the hard contact interaction problem of underwater vehicle-manipulator systems (UVMS) to realize asset inspection through physical interaction. The proposed approach consists of a force and position controller in the operational space of the end effector of the robot manipulator mounted on an underwater vehicle. The force tracking algorithm keeps the end effector perpendicular to the unknown surface of the asset and the position tracking algorithm makes it follow a desired trajectory on the surface. The challenging problem in such a system is to maintain the end effector of the manipulator in continuous and stable contact with the unknown surface in the presence of disturbances and reaction forces that constantly move the floati

SUBMITTER: Cetin K 

PROVIDER: S-EPMC8356049 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature