Robust inverse dynamics control of a cable-driven underwater manipulator with elastic cables Online publication date: Tue, 19-Dec-2023
by Mahmoud Zarebidoki; Jaspreet Singh Dhupia; Weiliang Xu
International Journal of Biomechatronics and Biomedical Robotics (IJBBR), Vol. 4, No. 2, 2023
Abstract: This paper studies the dynamics modelling and robust inverse dynamics (RID) control of an underwater cable-driven serial manipulator (CDSM) with flexible cables. At first, the dynamics of the manipulator considering different fluid forces is derived. Later, by considering a linear spring model for the cables, the effect of the elasticity of the cables on the dynamics of the system is defined. Afterward, two controllers consisting of inverse dynamics (ID) and RID are implemented in the system. To investigate the efficiency of the controllers, along with the elasticity of the cables, uncertainties in the physical properties of the manipulator and fluid are inserted into the system. The results of the RID controller are compared to the ID controller, which shows its efficiency for a more accurate trajectory tackling in the presence of uncertainties and disturbances.
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