Hybrid Cable-Thruster Actuated Underwater Vehicle Manipulator Systems: A Study on Force Capabilities

Gamal El-Ghazaly 1 Marc Gouttefarde 1 Vincent Creuze 2
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 ICAR - Image & Interaction
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Traditional underwater vehicle-manipulator systems (UVMS) consist mainly of an underwater vehicle on which a manipulator is mounted. In addition to the vehicle thrusters, this paper proposes to use cables to actuate UVMSs. The main goal of this extra source of actuation is to enhance UVMS work capabilities. Similarly to cable-driven parallel robots, the cables are attached to the UVMS and a set of fixed winches permit the control of the cable lengths or tensions. We refer to this new system as a hybrid cable-thruster (HCT)-actuated UVMS. Based on the kinematic and dynamic model of HCTactuated UVMSs, this paper focuses on the determination of the available set of end-effector forces in a suitable mathematical representation. An illustrative simple planar example of HCT-actuated UVMS is also presented.
Type de document :
Communication dans un congrès
IROS: Intelligent RObots and Systems, Sep 2015, Hamburg, Germany. IEEE/RSJ, 2015
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01221412
Contributeur : Marc Gouttefarde <>
Soumis le : mercredi 28 octobre 2015 - 01:39:18
Dernière modification le : jeudi 11 janvier 2018 - 06:26:18

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  • HAL Id : lirmm-01221412, version 1

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Gamal El-Ghazaly, Marc Gouttefarde, Vincent Creuze. Hybrid Cable-Thruster Actuated Underwater Vehicle Manipulator Systems: A Study on Force Capabilities. IROS: Intelligent RObots and Systems, Sep 2015, Hamburg, Germany. IEEE/RSJ, 2015. 〈lirmm-01221412〉

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