Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects
This article considers an approach to synthesizing a multilevel system to control movements of a multilink manipulator (MM) mounted on an unmanned underwater vehicle (UUV) for performing autonomous manipulative operations in the mode of dynamic positioning over various objects on the seafloor. The s...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/3/1666 |
| _version_ | 1797489029695930368 |
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| author | Alexander Konoplin Alexander Yurmanov Nikita Krasavin Pavel Piatavin |
| author_facet | Alexander Konoplin Alexander Yurmanov Nikita Krasavin Pavel Piatavin |
| author_sort | Alexander Konoplin |
| collection | DOAJ |
| description | This article considers an approach to synthesizing a multilevel system to control movements of a multilink manipulator (MM) mounted on an unmanned underwater vehicle (UUV) for performing autonomous manipulative operations in the mode of dynamic positioning over various objects on the seafloor. The system is based on an upgraded method that, using point clouds received from the machine vision systems (MVS), provides high-accuracy determination of the shape and location of the work object relative to UUV. The preset trajectories of the MM working tool are overlaid on the identified surface of the object, with possible silting, fouling or deformation of the latter taken into account. To execute the programmed trajectories with the MM working tool, the following methods have been implemented in software: stabilization of UUV in hovering mode near the object, high-precision control of working tool’s movements, and also corrections of its trajectory taking into account UUV’s displacements relative to the object. The synthesized system has been developed in the C++ programming language. The operation of the system has been numerically simulated using a model of UUV with MM, as well as models of the environment and the target object, in the Matlab/Simulink and V-REP software packages. The results of the study show a high efficiency of the system both in processing sensor information and in providing the dynamic control of movements of an UUV with a MM. |
| first_indexed | 2024-03-10T00:10:42Z |
| format | Article |
| id | doaj.art-ff0410fe757a4ee694216f807939876d |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T00:10:42Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-ff0410fe757a4ee694216f807939876d2023-11-23T16:01:25ZengMDPI AGApplied Sciences2076-34172022-02-01123166610.3390/app12031666Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor ObjectsAlexander Konoplin0Alexander Yurmanov1Nikita Krasavin2Pavel Piatavin3Institute of Marine Technology Problems, Far Eastern Branch, Russian Academy of Sciences (FEB RAS), 690091 Vladivostok, RussiaInstitute of Marine Technology Problems, Far Eastern Branch, Russian Academy of Sciences (FEB RAS), 690091 Vladivostok, RussiaInstitute of Marine Technology Problems, Far Eastern Branch, Russian Academy of Sciences (FEB RAS), 690091 Vladivostok, RussiaInstitute of Marine Technology Problems, Far Eastern Branch, Russian Academy of Sciences (FEB RAS), 690091 Vladivostok, RussiaThis article considers an approach to synthesizing a multilevel system to control movements of a multilink manipulator (MM) mounted on an unmanned underwater vehicle (UUV) for performing autonomous manipulative operations in the mode of dynamic positioning over various objects on the seafloor. The system is based on an upgraded method that, using point clouds received from the machine vision systems (MVS), provides high-accuracy determination of the shape and location of the work object relative to UUV. The preset trajectories of the MM working tool are overlaid on the identified surface of the object, with possible silting, fouling or deformation of the latter taken into account. To execute the programmed trajectories with the MM working tool, the following methods have been implemented in software: stabilization of UUV in hovering mode near the object, high-precision control of working tool’s movements, and also corrections of its trajectory taking into account UUV’s displacements relative to the object. The synthesized system has been developed in the C++ programming language. The operation of the system has been numerically simulated using a model of UUV with MM, as well as models of the environment and the target object, in the Matlab/Simulink and V-REP software packages. The results of the study show a high efficiency of the system both in processing sensor information and in providing the dynamic control of movements of an UUV with a MM.https://www.mdpi.com/2076-3417/12/3/1666unmanned underwater vehiclemultilink manipulatorcontrol systemmachine vision systemobject identificationtrajectory building |
| spellingShingle | Alexander Konoplin Alexander Yurmanov Nikita Krasavin Pavel Piatavin Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects Applied Sciences unmanned underwater vehicle multilink manipulator control system machine vision system object identification trajectory building |
| title | Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects |
| title_full | Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects |
| title_fullStr | Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects |
| title_full_unstemmed | Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects |
| title_short | Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects |
| title_sort | development of a control system for multilink manipulators on unmanned underwater vehicles dynamically positioned over seafloor objects |
| topic | unmanned underwater vehicle multilink manipulator control system machine vision system object identification trajectory building |
| url | https://www.mdpi.com/2076-3417/12/3/1666 |
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