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JRM Vol.35 No.5 pp. 1300-1311
doi: 10.20965/jrm.2023.p1300
(2023)

Paper:

Adaptive Kinematic Control of Underwater Cable-Driven Parallel Robot

Katutoshi Kodama*, Akihiro Morinaga*, and Ikuo Yamamoto** ORCID Icon

*Graduate School of Engineering, Nagasaki University
1-14 Bunkyo-machi, Nagasaki-city, Nagasaki 852-8521, Japan

**Organization for Marine Science and Technology, Nagasaki University
1-14 Bunkyo-machi, Nagasaki-city, Nagasaki 852-8521, Japan

Received:
February 8, 2023
Accepted:
June 26, 2023
Published:
October 20, 2023
Keywords:
cable-driven parallel robot, underwater robot, kinematic model, uncertainty, adaptive control
Abstract

We previously proposed on the underwater cable-driven parallel robot (UCDPR), a system comprising multiple surface robots, and designed a modeling and trajectory tracking control method for it. However, the conventional trajectory tracking control of the UCDPR using the kinematic controller faced several issues. These included challenges in control gain tuning due to model uncertainty and a decline in trajectory tracking performance caused by changes in system characteristics due to environmental factors like current velocity. In response, this study focuses on the development of an adaptive kinematic controller. The aim is to mitigate the effects of uncertainties and other factors while ensuring effective trajectory tracking. This is achieved by incorporating an adaptive modification term into the conventional kinematic controller, which can be tuned adaptively in real-time. To validate the effectiveness of the adaptive kinematic controller, we conducted numerical simulations using a planar 2-DOF UCDPR.

Concept image of UCDPR

Concept image of UCDPR

Cite this article as:
K. Kodama, A. Morinaga, and I. Yamamoto, “Adaptive Kinematic Control of Underwater Cable-Driven Parallel Robot,” J. Robot. Mechatron., Vol.35 No.5, pp. 1300-1311, 2023.
Data files:
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