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Adaptive compliant control for an inspection robot system

Adaptive compliant control for an inspection robot system

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© The Institution of Electrical Engineers
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A robotic sub-sea inspection system is described. Emphasis is placed on how to use self-tuning adaptive control strategies to control the robot compliant motion. Experiments on a PUMA robotic manipulator have shown that adaptive control can greatly improve contact quality and provide much better tracking ability in an unknown environment. Also adaptive controllers can make the approach time shorter than ordinary fixed gain controllers. A coupled dynamics concept for surface contact, which is typical in an inspection task, is introduced. Implementation of an adaptive controller in VAL-2 is detailed. A supervisory control system, capable of incorporating real-time compliant motion control and written in MODULA-2, is also described.

Inspec keywords: adaptive control; marine systems; computerised control; robots; compliance control; self-adjusting systems

Other keywords: compliance control; unknown environment; supervisory control system; robotic sub-sea inspection system; PUMA robotic manipulator; self-tuning adaptive control; real-time compliant motion control; MODULA-2; marine systems; VAL-2; tracking

Subjects: Control engineering computing; Self-adjusting control systems; Marine system control; Mechanical variables control; Robotics; Spatial variables control

References

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      • Broome, D.R., Ihnatowicz, E., Wray, A.M., Savut, M.K.: `Automated inspection of sub-sea structures', Proceedings of Sub-sea 84, November 1984, Rotterdam, Netherlands.
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      • D.R. Broome , M.C. Greenshields , G. Hughes , M.K. Savut . Computer control of GE underwater manipulator system. International Underwater System Design , 5 , 27 - 32
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      • Wang, Q., Broome, D.R., Daycock, I.T.W.: `Adaptive force control of the PUMA560 industrial robotic manipulator', Proceedings of IEE Int. Conf. on Control 91, March 1991, Edinburgh, UK, p. 358–361.
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      • Broome, D.R., Hughes, G.: `Automated development of inspection systems for tubular nodes', Presented at INTERVENTION 88, 1988, Bergen.
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      • J. Schutter , H. van Brussel . Compliant robot motion I. A formalism for specifying compliant motion tasks; II. A control approach based on external control loops. Int. J. Robotics Research , 4 , 3 - 33
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      • Q. Wang , D.R. Broome . A new simulation scheme for self-tuning adaptive control of robot manipulators. Robotica , 335 - 339
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      • Wang, Q.: `Study on the dynamic and force control of a robotic manipulator', 1992, PhD Thesis, University of London, UCL.
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      • Greig, A.R., Wang, Q., Broome, D.R.: `Weld tracking with a robotic manipulator fitted with a compliant wrist unit', Presented at Intervention/ROV '92, 10–12 June 1992, San Diego, California, USA.
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      • Greig, A.R., Broome, D.R.: `Automatic inspection of complex geometry welds', 5th Int. Conf. on Advanced robotics, June 1991, Pisa, Italy, p. 1788–1791.
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