Research on Compliant Controller of Underwater Mechanical Capture System Based on Impedance Theory

Authors

  • Yuanjie Liu State Key Laboratory of Robotics and System, Harbin institute of Technology, Harbin, China https://orcid.org/0000-0002-8830-8389
  • Fusheng Zha State Key Laboratory of Robotics and System, Harbin institute of Technology, Harbin, China
  • Qiming Wang State Key Laboratory of Robotics and System, Harbin institute of Technology, Harbin, China
  • Chao Zheng Wuhan Second Ship Design and Research Institute, Wuhan, China
  • Jinrui Zhou State Key Laboratory of Robotics and System, Harbin institute of Technology, Harbin, China
  • Lianzhao Zhang State Key Laboratory of Robotics and System, Harbin institute of Technology, Harbin, China https://orcid.org/0000-0002-3381-1286

DOI:

https://doi.org/10.13052/ijfp1439-9776.2432

Keywords:

Compliant control, Underwater manipulator, Hydraulic analysis, Dynamics simulation

Abstract

Due to the requirement of the exploitation of marine resources, the execution of specific underwater tasks by onboard manipulators has become one of the key research fields in domestic and all over the world. Based on the underwater capture system designed for the UUV recycling task, which consists of an underwater manipulator and a mechanical capture device, this paper first constructs the kinematics and dynamics model of the capture system through theoretical analysis such as theoretical mechanics and theory of mechanism. Then, combined with the requirements of the recycling task, through the theoretical basis of fluid mechanics such as Morrison equation, dynamic of the capture system in underwater environment is analysed, with a compliant controller designed for the capture system based on impedance theory in order to reduce the impact of underwater environment in the capture task. Moreover, as the capture system modelled in the Adams dynamics simulation platform, it is verified that the designed compliant controller can reduce the underwater environmental impact through simulation experiments in the Adams dynamic platform.

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Author Biographies

Yuanjie Liu, State Key Laboratory of Robotics and System, Harbin institute of Technology, Harbin, China

Yuanjie Liu received his bachelor’s degree in Mechanical Design Manufacturing and Automation from Yanshan University, Qinhuangdao, China. He is now pursing his master’s degree in Machinery Engineering at the School of Mechatronic Engineering, Harbin Institute of Technology, Harbin, China. His main research fields are: underwater robots and robots’ dynamic.

Fusheng Zha, State Key Laboratory of Robotics and System, Harbin institute of Technology, Harbin, China

Fusheng Zha, associate professor at the School of Mechatronic Engineering, Harbin Institute of Technology. He received his doctorate degree in engineering from Harbin Institute of Technology in 2012. His main research fields are: footed robots, underwater robots, artificial intelligence and self-growing networks, bionic information processing methods, neural information encoding and decoding methods.

Qiming Wang, State Key Laboratory of Robotics and System, Harbin institute of Technology, Harbin, China

Qiming Wang, received his bachelor’s degree in Mechatronic Engineering from Harbin Institute of Technology, and the Master of science degree in Mechanical Engineering from Washington University in St. Louis, the USA. He is now pursing his doctorate degree in mechanical engineering at the School of Mechatronic Engineering, Harbin Institute of Technology. His main research fields are: underwater robots, six-legged robot, robots’ dynamic, and artificial intelligent control methods.

Chao Zheng, Wuhan Second Ship Design and Research Institute, Wuhan, China

Chao Zheng, is working as an engineer at the Wuhan Second Ship Design and Research Institute, Wuhan, China. His main research area includes underwater robotics and robots’ dynamic.

Jinrui Zhou, State Key Laboratory of Robotics and System, Harbin institute of Technology, Harbin, China

Jinrui Zhou, is a senior student in Mechatronic Engineering at the School of Mechatronic Engineering, Harbin Institute of Technology. He is going to pursuing his Master’s degree in Mechanical Engineering after graduation. His main contribution to this research is proposing a mechanical design of the manipulator.

Lianzhao Zhang, State Key Laboratory of Robotics and System, Harbin institute of Technology, Harbin, China

Lianzhao Zhang, received his bachelor’s degree in Mechanical and Electronic Engineering from Northwest A&F University, Yangling, China. He is a graduate student pursing master’s degree in Mechanical Engineering at the School of Mechatronic Engineering, Harbin Institute of Technology and is going to pursing his doctorate degree in mechanical engineering. His research interests include the autonomous control, dynamics analysis and simulation of legged robots.

References

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Published

2023-06-21

How to Cite

Liu, Y. ., Zha, F. ., Wang, Q. ., Zheng, C. ., Zhou, J. ., & Zhang, L. . (2023). Research on Compliant Controller of Underwater Mechanical Capture System Based on Impedance Theory. International Journal of Fluid Power, 24(03), 441–466. https://doi.org/10.13052/ijfp1439-9776.2432

Issue

2023: Vol 24 Iss 3

Section

ICFPMCE 2022