Design and Verification of Active/Passive Compliant Control System for Underwater Hydraulic Manipulator
Underwater hydraulic manipulators are pivotal apparatuses for underwater special operations.Currently,the control of hydraulic manipulators for underwater operations mainly relies on visual feedback to determine the position.However,various operating errors can occur,such as camera distortion and water flow interference,which often result in sticking or jamming issues,severely impacting the efficiency and safety of operations.To address these,an active/passive compliant control system specifically designed for underwater hydraulic manipulators is proposed.By designing an end clamp,position and deflection errors are compensated to achieve passive compliance.Active compliance is achieved by the virtual decomposition control method,combined with a force observer and impedance control.Furthermore,the effectiveness of the active/passive compliant control method is verified through experiments,providing a reference for the design of safe and compliant control for underwater hydraulic manipulators.
underwater manipulatorcompliant controlhydraulic system
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