Improved design and control experiments of an underwater electric manipulator

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Improved design and control experiments of an underwater electric manipulator
	Zhang QF(张奇峰); Zhang AQ(张艾群); Yan KC(燕奎臣)
	2006
会议名称	SICE-ICASE International Joint Conference
会议日期	October 18-21, 2006
会议地点	Busan, SOUTH KOREA
关键词	underwater electric manipulator autonomous underwater vehicles adaptive controller
页码	704-708
中文摘要	Autonomous/Semi-autonomous working underwater vehicle is a development trend of underwater vehicles. This paper briefly analyzes the requirements of underwater electric manipulator to be equipped on autonomous underwater vehicles, and designs a three-function underwater electric manipulator test-bed. The test-bed has the characteristics of compact configuration, complete function and with big moment output. But exterior cable layout increases the possibility to arise malfunction especially when the manipulator working in water. An improved design of the manipulator with inner cable layout is also presented in this paper. Based on the frequency characteristics of the rotary joint driven module, the PI correction is designed to control the shoulder and elbow joint's angular rate. Then the angle error is regarded as the input of angular rate control loop after a PID Controller, and a Non-regressor Adaptive Controller, which has been widely adopted as an effective means in underwater vehicle control, is also used to control the manipulator as a selective method. Experiment results demonstrate the good effect of the PID and the adaptive controllers in controlling joint angle, and with the inner control loop, the Non-regressor Adaptive Controller is more robust than that without inner-loop, and it is a more appropriate controller than PID controller especially in protecting the manipulator's motors from saturated voltage.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	SICE, ICASE
会议录	2006 SICE-ICASE International Joint Conference, Vols 1-13
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-89-950038-4-8
WOS记录号	WOS:000246237600141
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7820]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Zhang QF,Zhang AQ,Yan KC. Improved design and control experiments of an underwater electric manipulator[C]. 见:SICE-ICASE International Joint Conference. Busan, SOUTH KOREA. October 18-21, 2006.