Features of performing technological operations using autonomous underwater vehicles equipped with multi-link manipulators

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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.

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About the authors

Vladimir F. Filaretov

Institute of Automation and Control Processes, FEB RAS

Email: filaretov@inbox.ru
ORCID iD: 0000-0001-8900-8081

Doctor of Sciences in Technique, Professor, Laboratory Head

Russian Federation, Vladivostok

Aleksandr V. Zuev

Institute of Automation and Control Processes, FEB RAS; Institute of Marine Technology Problems named after Academician M.D. Ageev, FEB RAS

Author for correspondence.
Email: zuev@dvo.ru
ORCID iD: 0000-0002-0934-6222

Doctor of Sciences in Technique, Associate Professor, Leading Researcher

Russian Federation, Vladivostok; Vladivostok

Aleksandr А. Timoshenko

Institute of Marine Technology Problems named after Academician M.D. Ageev, FEB RAS; Far Eastern Federal University

Email: timoshenko.aal@mail.ru
ORCID iD: 0000-0003-1356-9602

Researcher

Russian Federation, Vladivostok; Vladivostok

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2. Fig. 1. Generalized scheme of a manipulative ANPA for the automatic execution of power underwater operations. 1 – ANPA body, 2 – MM, 3 – RI MM, 4 – STZ, 5 – OP, 6 – working trajectory of RI MM

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3. Fig. 2. Generalized block diagram of the proposed ANPA SYSTEM with M

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