Redundant actuation system of an underwater vehicle

OCEAN ENGINEERING

卷:151

Article

Ropars, B.^1,2,3  Lapierre, L.¹  Lasbouygues, A.¹  Andreu, D.¹  Zapata, R.¹ 

[1] Univ Montpellier, LIRMM Inst, 161 Rue Ada, Montpellier, France

[2] LIRMM Inst, Montpellier, France

[3] CISCREA Co, Toulon, France

关键词: Robotics;    Underwater;    Redundancy;   

DOI  :  10.1016/j.oceaneng.2017.12.025

来源: Elsevier

【 摘 要 】

This paper addresses the question of redundancy management of a vectorial actuation system of an underwater robot. The approach focuses on the compensation of the actuators structural imperfections: dead-zone and motor's response disparity. The solution is based on the identification of a correction matrix which highly improves the open-loop response of the actuation system. The effect is formally shown in the linear case approximation. Experimental validation shows the performance of the solution.

【 授权许可】

Free