Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2018

Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm

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.

Domains

Automatic
Fichier principal
Vignette du fichier
ICRA18_Francois_Leborne_0268_version_finale.pdf (788.23 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

lirmm-01822247 , version 1 (24-06-2018)

Identifiers

Cite

François Leborne, Vincent Creuze, Ahmed Chemori, Lorenzo Brignone. Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm. AAMAS 2018 - 17th International Conference on Autonomous Agents and MultiAgent Systems, May 2018, Brisbane, Australia. pp.4955-4960, ⟨10.1109/ICRA.2018.8460963⟩. ⟨lirmm-01822247⟩
153 View
188 Download

Altmetric

Share

Gmail Facebook X LinkedIn More