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- Title
SYSTEM OF HIGH-PRECISION MOVEMENTS CONTROL OF UNDERWATER MANIPULATOR.
- Authors
Vladimir, Filaretov; Alexander, Konoplin; Alexander, Zuev; Nikita, Krasavin
- Abstract
The paper deals with system of high-precision movements control of underwater manipulator mounted on underwater vehicle. Described control system allows to compensate negative torques in joints of the manipulator which appear due to high-speed movements of underwater manipulator in fluid environment, and also compensate coulomb friction and viscous friction moments in link electric drive units. This task is achieved due to using of self-adjusting corrective devices of manipulator electric drive units. Because of recurrent algorithm for solving the inverse problem of dynamics doesn’t allow to accurately determine effects of a viscous friction influence on manipulator’s moving links, here is suggested to use observers to determine and then take into account unaccounted moments for each manipulator electric drive unit. Numerical simulation of synthesized 3-dof underwater manipulator control system was performed. It showed that described system significantly improves dynamic accuracy of high-speed movements of manipulator gripper during various technological operations.
- Subjects
ELECTRIC units; ELECTRIC drives; MANIPULATORS (Machinery); COULOMB friction; SUBMERSIBLES; INVERSE problems
- Publication
Annals of DAAAM & Proceedings, 2020, Vol 31, p752
- ISSN
1726-9679
- Publication type
Article
- DOI
10.2507/31st.daaam.proceedings.104