Improved design and control experiments of an underwater electric manipulator
文献类型：会议论文
| 作者 | Zhang QF(张奇峰) ; Zhang AQ(张艾群); Yan KC(燕奎臣)
|
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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