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Modeling of robot manipulators working under the sea and the design of a robust controller

Published online by Cambridge University Press:  09 March 2009

Choi Hyeung-Sik
Choi Hyeung-Sik
Affiliation:
Department of Mechanical Engineering, Korea Maritime University, Dongsam-Dong, Yeongdo-Ku, Pusan (Korea)
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Summary

This paper presents a study of the dynamics of undersea robot manipulators in an unstructured sea water environment and a control scheme appropriate for manipulating them. Under the sea, the buoyancy and the added mass should be considered in modeling the dynamics of the robot manipulators. However, due to the complexity of the modeling of the added mass, the dynamics of the robot manipulators are treated as an unmodeled dynamics in this paper. In addition to the buoyancy and added mass/moment of inertia, disturbing forces due to drag, and current affecting the dynamics of the robot manipulators should be considered. In this paper, the forces due to the drag are defined as disturbance forces in addition to the frictional force of manipulator joints. In order to control the manipulator, a robust control scheme is devised to achieve trajectory tracking while regulating disturbance forces. A numerical example is shown.

Keywords

Undersea robotsRobust controllerUnmodeled dynamics
Type
Article
Information
Robotica , Volume 14 , Issue 2 , March 1996 , pp. 213 - 218
Copyright
Copyright © Cambridge University Press 1996

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