Coordinated Motion Planning Based on Virtual Workspace Constraints for AUVMS

doi:10.3901/JME.2020.12.249

Abstract

Abstract: In order to avoid the vibration shock caused by the full extension of the manipulator of autonomous underwater vehicle-manipulator system (AUVMS), a coordinated motion planning method based on virtual workspace constraints is proposed. A certain subset of the flexible workspace of the manipulator is selected as the virtual workspace in order to constraint the motion of the end effector. The soft joint limits is used to avoid self-interference, and the positional relationship between the end effector and the virtual workspace is determined by ray detection algorithm based on convex hull. The vehicle command velocity corresponding to the different self-movement states of AUVMS is deduced, so as to move the vehicle as little as possible. The results show that the proposed method not only solves the problem of the fully extended of the manipulator, but makes the tracking accuracy improved compared to the weighted minimum norm method. The position error is within ±0.04 m, and the orientation error is within ±3 °.

Key words: underwater vehicle-manipulator system, coordinated control, flexible workspace, motion constraint, interference

CLC Number:

TP242

YU Fujie, CHEN Yuan, LI Qingzhong. Coordinated Motion Planning Based on Virtual Workspace Constraints for AUVMS[J]. Journal of Mechanical Engineering, 2020, 56(12): 249-264.

References

[1] SIMETTI E,CASALINO G,WANDERLINGH F,et al. Task priority control of underwater intervention systems:Theory and applications[J]. Ocean Engineering,2018,164:40-54.
[2] HUANG Hai,ZHANG Guocheng,LI Jiyong,et al. Model based adaptive control and disturbance compensation for underwater vehicles[J]. Chinese Journal of Mechanical Engineering,2018,31:19.
[3] TANG Qirong,LIANG Le,XIE Jianhua,et al. Task-priority redundancy resolution on acceleration level for underwater vehicle-manipulator system[J]. International Journal of Advanced Robotic Systems. 2017,14(4):1-9.
[4] WHITNEY D. Resolved motion rate control of manipulators and human prostheses[J]. IEEE Transactions on Man-Machine Systems,1969,10(2):47-53.
[5] LIEGOIS A. Automatic supervisory control of the configuration and behaviour of multibody mechanism[J]. IEEE Transactions on Systems,Man,and Cybernetics,1977,7(12):868-871.
[6] PETERSEN J G,BOWYER S A,BAENA F R Y. Mass and friction optimization for natural motion in hands-on robotic surgery[J]. IEEE Transactions on Robotics,2016,32(1):1-13.
[7] LYNCH B,ELLERY A. Efficient control of an AUV-manipulator system:An application for the exploration of Europa[J]. IEEE Journal of Oceanic Engineering,2014,39(3):552-570.
[8] PATRE B M,LONDHE P S,WAGHMARE L M,et al. Disturbance estimator based non-singular fast fuzzy terminal sliding mode control of an autonomous underwater vehicle[J]. Ocean Engineering,2018,159:372-387.
[9] MARANI G,CHOI S K,YUH J. Underwater autonomous manipulation for intervention missions AUVs[J]. Ocean Engineering,2009,36(1):15-23.
[10] ISMAIL Z H,MOKHAR M W,PUTRANTI V W,et al. A robust dynamic region-based control scheme for an autonomous underwater vehicle[J]. Ocean Engineering,2016,111:155-165.
[11] WANG Yu,WANG Shuo,WEI Qingping,et al. Development of an underwater manipulator and its free-floating autonomous operation[J]. IEEE/ASME Transactions on Mechatronics,2016,21(2):815-824.
[12] SATJA S,JOSEPH C,EDIN O,et al. Underwater manipulators:A review[J]. Ocean Engineering,2018,163:431-450.
[13] SOYLU S,BUCKHAM B J,PODHORODESKI R P. Redundancy resolution for underwater mobile manipu-lators[J]. Ocean Engineering,2010,37(2-3):325-343.
[14] SANTHAKUMAR M,KIM J. Indirect adaptive control of an autonomous underwater vehicle manipulator system for underwater manipulation tasks[J]. Ocean Engineer-ing,2012,54:233-243.
[15] CASTELLI G,OTTAVIANO E,CECCARELLI M. A fairly general algorithm to evaluate workspace character-istics of serial and parallel manipulators[J]. Mechanics Based Design of Structures & Machines,2008,36(1):14-33.
[16] SATJA S,MATIJA R,JOSEPH C,et al. Collision detection for underwater ROV manipulator systems[J]. Sensors,2018,18(4):1117.
[17] 赵智远,徐振邦,何俊培,等. 基于工作空间分析的9自由度超冗余串联机械臂构型优化[J]. 机械工程学报,2019,55(21):51-63. ZHAO Zhiyuan,XU Zhenbang,HE Junpei,et al. Confi-guration optimization of nine degree of freedom super-redundant serial manipulator based on workspace analysis[J]. Journal of Mechanical Engineering,2019,55(21):51-63.
[18] CASALINO G,CACCIA M,CASELLI S,et al. Underwater intervention robotics:An outline of the Italian national project MARIS[J]. Marine Technology Society Journal,2016,50(4):98-107.
[19] HACHICHA S,ZAOUI C,DALLAGI H,et al. Innovative design of an underwater cleaning robot with a two arm manipulator for hull cleaning[J]. Ocean Engineering,2019,181:303-313.
[20] 冯骁,贾英宏,徐世杰. 控制力矩陀螺驱动空间机器人的角动量平衡控制[J]. 北京航空航天大学学报,2017,43(6):1191-1198. FENG Xiao,JIA Yinghong,XU Shijie. Momentum equalization control of space robot with control moment gyroscopes for joint actuation[J]. Journal of Beijing University of Aeronautics and Astronautics,2017,43(6):1191-1198.
[21] ZHANG Zhaokun,WANG Liping,SHAO Zhufeng. Improving the kinematic performance of a planar 3-RRR parallel manipulator through actuation mode conversion[J]. Mechanism and Machine Theory,2018,130:86-108.