- PII
- 10.31857/S0869769824030091-1
- DOI
- 10.31857/S0869769824030091
- Publication type
- Article
- Status
- Published
- Authors
- Volume/ Edition
- Volume / Issue number 3
- Pages
- 165-177
- Abstract
- The article describes a new generalized approach to performing underwater contact (technological) operations in fully automatic mode using autonomous underwater vehicles equipped with multi-link manipulators. This approach involves the use of a special hull of the underwater vehicle, ensuring its high mobility and convenient control over all six degrees of freedom, as well as passive vertical stabilization when performing contact operations using a six-degree manipulator. The proposed new method for identifying the added masses and moments of inertia of the liquid attached to the moving links of the manipulator, as well as the coefficients of Coloumb friction, allows us to determine the external moments in the joints of the manipulator, providing an accurate force effect of its working tool on the objects of work. The maintenance of this predetermined effect is provided by a special system for stabilizing the position and orientation of the device at a given point in space, as well as the current thrust of its thrusters, taking into account the current configuration of the manipulator. The proposed methods, as well as devices and systems synthesized on their basis with elements of artificial intelligence, have already been partially tested on land and underwater robotic complexes, which guarantees their successful use in the creation of manipulative autonomous underwater vehicles of a new generation.
- Keywords
- автономный необитаемый подводный аппарат многозвенный манипулятор позиционно-силовое управление технологические операции
- Date of publication
- 15.09.2025
- Year of publication
- 2025
- Number of purchasers
- 0
- Views
- 11
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