Visual Servo Control for an Underwater Free-Floating Manipulator with Base Motion Compensation

被引:0
作者
Zhang, Lijun [1 ]
Gao, Jian [1 ]
Yan, Weisheng [1 ]
机构
[1] Northwestern Polytech Univ, Sch Marine Engn, Xian, Shaanxi, Peoples R China
来源
2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO) | 2018年
基金
中国国家自然科学基金;
关键词
underwater vehicle-manipulator system; free-floating manipulator; visual servo; unscented Kalman filter; disturbance compensatior;
D O I
暂无
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
In this paper, a visual servo control scheme with base motion compensation using an unscented Kalman filter (UKF) is presented for an underwater vehicle-manipulator system (UVMS) performing intervention tasks. It is assumed that the underwater vehicle is dynamically positioned by a station keeping controller in uncertain motion under disturbances of the environment and the manipulator. To control the free-floating manipulator (FFM) accurately, we propose an eye-in-hand visual servo controller with a disturbance compensator (DC-VSC). The velocity of the base is estimated by an unscented Kalman filter (UKF) with visual measurements based on the kinematic model of the UVMS. The simulation results validate the effectiveness of the proposed DC-VSC, which tracks the stationary visual target in the presence of an uncertain moving base.
引用
收藏
页数:6
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