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Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks
In underwater environments, ensuring people’s safety is complicated, with potentially life-threatening outcomes, especially when divers have to work in deeper conditions. To improve the available solutions for working with robots in this kind of environment, we propose the validation of a control st...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9696644/ https://www.ncbi.nlm.nih.gov/pubmed/36433424 http://dx.doi.org/10.3390/s22228828 |
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author | Cely, Juan S. Pérez Bayas, Miguel Ángel Carpio, Marco García Cena, Cecilia Elisabet Sintov, Avishai Saltaren, Roque |
author_facet | Cely, Juan S. Pérez Bayas, Miguel Ángel Carpio, Marco García Cena, Cecilia Elisabet Sintov, Avishai Saltaren, Roque |
author_sort | Cely, Juan S. |
collection | PubMed |
description | In underwater environments, ensuring people’s safety is complicated, with potentially life-threatening outcomes, especially when divers have to work in deeper conditions. To improve the available solutions for working with robots in this kind of environment, we propose the validation of a control strategy for robots when taking objects from the seabed. The control strategy proposed is based on acceleration feedback in the model of the system. Using this model, the reference values for position, velocity and acceleration are estimated, and then the position error signal can be computed. When the desired position is obtained, it is possible to then obtain the position error. The validation was carried out using three different objects: a ball, a bottle, and a plant. The experiment consisted of using this control strategy to take those objects, which the robot carried for a moment to validate the stabilisation control and reference following the control in terms of angle and depth. The robot was operated by a pilot from outside of the pool and was guided using a camera and sonar in a teleoperated way. As an advantage of this control strategy, the model upon which the robot is based is decoupled, allowing control of the robot for each uncoupled plane, this being the main finding of these tests. This demonstrates that the robot can be controlled by a control strategy based on a decoupled model, taking into account the hydrodynamic parameters of the robot. |
format | Online Article Text |
id | pubmed-9696644 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-96966442022-11-26 Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks Cely, Juan S. Pérez Bayas, Miguel Ángel Carpio, Marco García Cena, Cecilia Elisabet Sintov, Avishai Saltaren, Roque Sensors (Basel) Article In underwater environments, ensuring people’s safety is complicated, with potentially life-threatening outcomes, especially when divers have to work in deeper conditions. To improve the available solutions for working with robots in this kind of environment, we propose the validation of a control strategy for robots when taking objects from the seabed. The control strategy proposed is based on acceleration feedback in the model of the system. Using this model, the reference values for position, velocity and acceleration are estimated, and then the position error signal can be computed. When the desired position is obtained, it is possible to then obtain the position error. The validation was carried out using three different objects: a ball, a bottle, and a plant. The experiment consisted of using this control strategy to take those objects, which the robot carried for a moment to validate the stabilisation control and reference following the control in terms of angle and depth. The robot was operated by a pilot from outside of the pool and was guided using a camera and sonar in a teleoperated way. As an advantage of this control strategy, the model upon which the robot is based is decoupled, allowing control of the robot for each uncoupled plane, this being the main finding of these tests. This demonstrates that the robot can be controlled by a control strategy based on a decoupled model, taking into account the hydrodynamic parameters of the robot. MDPI 2022-11-15 /pmc/articles/PMC9696644/ /pubmed/36433424 http://dx.doi.org/10.3390/s22228828 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Cely, Juan S. Pérez Bayas, Miguel Ángel Carpio, Marco García Cena, Cecilia Elisabet Sintov, Avishai Saltaren, Roque Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks |
title | Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks |
title_full | Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks |
title_fullStr | Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks |
title_full_unstemmed | Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks |
title_short | Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks |
title_sort | control strategy of an underactuated underwater drone-shape robot for grasping tasks |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9696644/ https://www.ncbi.nlm.nih.gov/pubmed/36433424 http://dx.doi.org/10.3390/s22228828 |
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