Self-tuning Position and Force Control of a Hydraulic Manipulator
نویسنده
چکیده
Tele-operated hydraulic underwater manipulators are commonly used to perform remote underwater intervention tasks such as weld inspection or mating of connectors.Automation of these tasks to use tele-assistance requires a suitable hybrid position/forcecontrol scheme, to specify simultaneously the robot motion and contact forces. Classicallinear control does not allow for the highly non-linear and time varying robot dynamics inthis situation. Adequate control performance requires more advanced controllers. Thispaper presents and compares two different advanced hybrid control algorithms. The firstis based on a modified Variable Structure Control (VSC-HF) with a virtual environment,and the second uses a multivariable self-tuning adaptive controller. A direct comparisonof the two proposed control schemes is performed in simulation, using a model of thedynamics of a hydraulic underwater manipulator (a Slingsby TA9) in contact with a surface.These comparisons look at the performance of the controllers under a wide variety ofoperating conditions, including different environment stiffnesses, positions of the robot and
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