DUGiDocsAdaptive Admittance Control in Task-Priority Framework for Contact Force Control in Autonomous Underwater Floating Manipulation
dc.contributor.author
dc.date.accessioned
2019-06-23T18:07:40Z
dc.date.available
2019-06-23T18:07:40Z
dc.date.issued
2018-10
dc.identifier.isbn
978-1-5386-8094-0
dc.identifier.uri
dc.description
Marie Sklodowska-Curie grant agreement no. 750063
dc.description.abstract
This paper presents a control architecture for an underwater vehicle-manipulator system (UVMS) to enable simultaneous tracking of end-effector configuration and contact force during floating-base manipulation. The main feature of the architecture is its combination of a task-priority (TP) kinematic control algorithm with a custom force control strategy, based on impedance (admittance) control. The TP algorithm used in the work includes recent treatment of equality and inequality tasks as well as original concepts to handle operation in singular configurations of the system. In the force control part the impedance concept is extended to allow for direct control over the value of exerted force and torque. Additional feed-forward signal is used to ensure stable contact. The performance of the control architecture is demonstrated by experiments in a test tank, with GIRONA500 I-AUV performing pipe inspection
dc.description.sponsorship
This work is part of a project titled ”Force/position control system to enable compliant manipulation from a floating IAUV”, which received funding from the European Union’s Horizon 2020 research and innovation programme, under the
Marie Sklodowska-Curie grant agreement no. 750063
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application/pdf
dc.language.iso
eng
dc.publisher
Institute of Electrical and Electronics Engineers (IEEE)
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Versió postprint del document publicat a: https://doi.org/10.1109/IROS.2018.8593542
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© 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : october 1-5, 2018: Madrid, Spain. p. 6646-6651
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Contribucions a Congressos (D-ATC)
dc.rights
Tots els drets reservats. © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
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dc.title
Adaptive Admittance Control in Task-Priority Framework for Contact Force Control in Autonomous Underwater Floating Manipulation
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.relation.projectID
info:eu-repo/grantAgreement/EC/H2020/750063/EU/Force/position control system to enable compliant manipulation from a floating I-AUV/IAUVcontrol
dc.type.version
info:eu-repo/semantics/acceptedVersion
dc.identifier.doi
dc.type.peerreviewed
peer-reviewed
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dc.relation.ProjectAcronym
dc.identifier.eissn
2153-0866