Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm

François Leborne 1, 2, * Vincent Creuze 2, * Ahmed Chemori 2 Lorenzo Brignone 1, 2
* Corresponding author
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with the dynamic modeling and identification of an electrically driven underwater robot ma-nipulator. The proposed study includes the dynamic modeling of the actuators of the arm as well as the identification of the parameters of the model. The proposed method deals with the specific case of heterogeneously actuated arms, namely arms with actuators behaving differently for each joint, being considered at the kinematic level. Indeed, we show how to estimate the arms parameters when some of their revolute joints are directly actuated by geared motors, while the others are actuated by linear actuators. A minimum set of identifiable parameters is determined, and adequate excitation trajectories are generated and used in the identification procedure. Real-time experimental validation on the manipulator arms of Ifremer's HROV (Hybrid Remotely Operated Vehicle) Ariane underwater vehicle demonstrates that the proposed method improves the estimation of the dynamic model.
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François Leborne, Vincent Creuze, Ahmed Chemori, Lorenzo Brignone. Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm. ICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.1-9, ⟨10.1109/ICRA.2018.8460963⟩. ⟨lirmm-01822247⟩

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