Fuzzy Adaptive Impedance Control for Deep-Sea Hydraulic Manipulator Grasping under Uncertainties
文献类型：会议论文
| 作者 | Chen YZ(陈言壮)1,2,3 ; Zhang QF(张奇峰)1,3; Tian QY(田启岩)1,3; Huo LQ(霍良青)1,3; Feng XS(封锡盛)1,3
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| 出版日期 | 2020 |
| 会议日期 | October 5-30, 2020 |
| 会议地点 | Biloxi, MS, United states |
| 关键词 | fuzzy adaptive impedance control Deep-Sea Hydraulic Manipulator uncertainties unknown environment grasping |
| 页码 | 1-6 |
| 英文摘要 | This paper presents a position-based fuzzy adaptive variable impedance control architecture for an end-effector of deep-sea hydraulic manipulators. To obtain the contact force information in the deep-sea environment, pressure sensors are used to take the place of force sensors on deep-sea hydraulic manipulators. The stiffness and position information of underwater objects are can not be known in most cases, in order to get the reference trajectory, a method of on-line parameters estimation by the Lyapunov equation is proposed. To deal with the stiffness variation of objects and improve the robustness, a position-based fuzzy adaptive impedance controller is designed. Simulation and experiment studies are carried out to evaluate the effectiveness of the proposed control method applied for the end-effector of deep-sea hydraulic manipulators. |
| 产权排序 | 1 |
| 会议录 | 2020 Global Oceans 2020: Singapore - U.S. Gulf Coast
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-5446-6 |
| WOS记录号 | WOS:000669813301066 |
| 源URL | [http://ir.sia.cn/handle/173321/28746]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Zhang QF(张奇峰) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Chen YZ,Zhang QF,Tian QY,et al. Fuzzy Adaptive Impedance Control for Deep-Sea Hydraulic Manipulator Grasping under Uncertainties[C]. 见:. Biloxi, MS, United states. October 5-30, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
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