Design and Image Tracking Control of Underwater Manipulator

Tsung Han Wu, Shun Min Wang, Wen Wei Chang

研究成果: Conference contribution

摘要

In the face of high-risk and unpredictable ocean conditions, it is impractical to send divers for underwater exploration. This research aims to develop a small and highly nimble underwater manipulator system. Additionally, an Underwater Vision Sensing System was used to distinguish the trajectory of the target through cameras, and to perform target grabs and retrieval work using unmanned underwater manipulator. The underwater multi-axis manipulator in this study used spatial coordinate transformation to calculate the forward and inverse kinematics of the manipulator. In addition, the appropriate movement posture that matches the manipulator was selected through condition filters, enabling the manipulators to achieve desired target position. In terms of control, LabVIEW, a graphical programming platform, was used to design the user interface, and the gyroscope measured the angle error of the manipulators and fed it back to the controllers. There are two types of servo motor controllers tested in this research: a feedforward proportional-integral-derivative (PID) controller and a Gain-Scheduled PID controller. The gyroscopic measurement results showed that using Gain-Scheduled PID Controller provides higher accuracy than the others controller. This study applies existing underwater manipulator control theories to develop and modify the motion-controlling system through simulation and actual operation. The contribution of this research will expand the application of underwater exploration in both academic and industrial fields.

原文English
主出版物標題2023 5th International Conference on Control and Robotics, ICCR 2023
發行者Institute of Electrical and Electronics Engineers Inc.
頁面210-214
頁數5
ISBN(電子)9798350307627
DOIs
出版狀態Published - 2023
事件5th International Conference on Control and Robotics, ICCR 2023 - Tokyo, Japan
持續時間: 2023 11月 232023 11月 25

出版系列

名字2023 5th International Conference on Control and Robotics, ICCR 2023

Conference

Conference5th International Conference on Control and Robotics, ICCR 2023
國家/地區Japan
城市Tokyo
期間23-11-2323-11-25

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 電腦視覺和模式識別
  • 航空工程
  • 控制與系統工程
  • 控制和優化

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