Redundant actuation system of an underwater vehicle
Résumé
This paper addresses the question of redundancy management of a vectorial actuation system of an underwater robot. The approach focuses on the compensation of the actuators structural imperfections: dead-zone and mo-tor's response disparity. The solution is based on the identification of a correction matrix which highly improves the open-loop response of the actuation system. The effect is formally shown in the linear case approximation. Experimental validation shows the performance of the solution.
Domaines
Robotique [cs.RO]| Origine | Fichiers éditeurs autorisés sur une archive ouverte |
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