Adaptive Kinematic Control of Underwater Cable-Driven Parallel Robot

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2023-10-20 DOI:10.20965/jrm.2023.p1300

Katutoshi Kodama, Akihiro Morinaga, Ikuo Yamamoto

引用次数: 0

Abstract

We previously proposed on the underwater cable-driven parallel robot (UCDPR), a system comprising multiple surface robots, and designed a modeling and trajectory tracking control method for it. However, the conventional trajectory tracking control of the UCDPR using the kinematic controller faced several issues. These included challenges in control gain tuning due to model uncertainty and a decline in trajectory tracking performance caused by changes in system characteristics due to environmental factors like current velocity. In response, this study focuses on the development of an adaptive kinematic controller. The aim is to mitigate the effects of uncertainties and other factors while ensuring effective trajectory tracking. This is achieved by incorporating an adaptive modification term into the conventional kinematic controller, which can be tuned adaptively in real-time. To validate the effectiveness of the adaptive kinematic controller, we conducted numerical simulations using a planar 2-DOF UCDPR.

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水下索驱动并联机器人的自适应运动控制

提出了由多个水面机器人组成的水下缆索驱动并联机器人(UCDPR)系统，并设计了其建模和轨迹跟踪控制方法。然而，传统的基于运动控制器的UCDPR轨迹跟踪控制存在一些问题。其中包括由于模型不确定性导致的控制增益调整挑战，以及由于当前速度等环境因素导致的系统特性变化导致的轨迹跟踪性能下降。因此，本研究着重于自适应运动控制器的开发。其目的是减轻不确定性和其他因素的影响，同时确保有效的轨迹跟踪。这是通过在传统的运动控制器中加入一个自适应修正项来实现的，它可以实时自适应地进行调整。为了验证自适应运动控制器的有效性，我们使用平面2-DOF UCDPR进行了数值模拟。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.