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Evaluation of Dynamic Coupling Intensity and Passive Attitude Control of Underwater Vehicle-Manipulator Systems

机译：水下车辆操纵系统动态耦合强度和被动姿态控制的评价

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摘要

In the future, underwater manipulation tasks are intended to be performed by moving base robots, namely Underwater Vehicle-Manipulator Systems (UVMSs). However, the manipulation task induces reaction forces and torques on the underwater vehicle, affecting its positioning. Therefore, it is necessary to compensate for these disturbances to perform the coordinated control of the UVMS or the station keeping of the underwater vehicle. For this sake, this paper presents a new methodology to evaluate the intensity of the dynamic coupling as a function of the working frequency of the manipulator. With such information will be possible to predict the frequency range in which the dynamic coupling is significant. Also, this approach could be used on the task planning level to produce dynamically feasible reference trajectories, improving the control performance. Beyond the identification of a safe frequency range, the obtained results also provide interesting insights about the dynamic coupling influence for the attitude Degrees of Freedom (DoFs) of the underwater vehicle, which can be related to results reported in previous works. Moreover, motivated by the results obtained here and the originality of this application, a passive control is synthesized for the attitude of UVMSs. The simulation results show good attenuation for the pitch oscillations with the proposed control.
机译：在未来，水下操纵任务旨在通过移动基础机器人，即水下车辆操纵器系统（UVMS）来执行。然而，操纵任务在水下车辆上引起反作用力和扭矩，影响其定位。因此，有必要补偿这些干扰，以执行对水下车辆的UVM或站保持的协调控制。为此，本文提出了一种新方法，以评估动态耦合的强度作为操纵器的工作频率的函数。利用这些信息，可以预测动态耦合显着的频率范围。此外，这种方法可用于任务规划级别以产生动态可行的参考轨迹，提高控制性能。除了识别安全频率范围之外，所获得的结果还提供了关于水下车辆的姿态自由度（DOF）的动态耦合影响的有趣见解，这可能与先前作品中报道的结果有关。此外，通过此处获得的结果和本申请的原创性的动机，为UVMS的姿态合成了被动控制。仿真结果显示出具有所提出的控制的俯仰振荡的良好衰减。

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