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• W4387588165 abstract "This paper studied the fixed point control task of a DELTA parallel manipulator mounted on an autonomous underwater vehicle. Such a system features complex dynamics and susceptibility to disturbances due to its parallel structure and floating base. The main disturbances of the fixed point control task are the coupling reaction between the vehicle and the manipulator and the position error of the end-effector caused by the fluctuation of the underwater vehicle. We proposed a method to achieve better performance in aspects of accuracy and stability for the DELTA manipulator used in the underwater vehicle manipulator system (UVMS). First, we introduce the mechanical structure of the UVMS studied in this paper. Second, we derive the coupling relationship between the manipulator and the underwater vehicle and then feed it to the controller of the vehicle. Third, the vehicle’s velocity and position changes are obtained through the acceleration data of the vehicle under a hovering state. Then the changes are compensated by the controller of the DELTA manipulator, which adjusts the trajectory in joint space. Finally, simulation results are presented to verify the feasibility of our method." @default.
• W4387588165 created "2023-10-13" @default.
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• W4387588165 date "2023-01-01" @default.
• W4387588165 modified "2023-10-14" @default.
• W4387588165 title "Disturbance Rejection Fixed Point Control of DELTA Parallel Manipulator Mounted on Autonomous Underwater Vehicle" @default.
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• W4387588165 doi "https://doi.org/10.1007/978-981-99-6498-7_39" @default.
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