2.2.a.lecture Gianluca Antonelli

Introduction to modeling and control
of underwater vehicle-manipulator systems

Gianluca Antonelli
Universit`
a di Cassino e del Lazio Meridionale
antonelli@unicas.it
http://webuser.unicas.it/lai/robotica
http://www.eng.docente.unicas.it/gianluca antonelli
TRIDENT school
Gianluca Antonelli
TRIDENT school, Mallorca, 1 october 2012
Targeted audience and talks shape

50 minutes talk about the mathematical foundations of
Underwater Vehicle Manipulator Systems (UVMS)
Educational shape (entry level)
knowledge of
mathematics, physics
control
basic robotics
equations, equations still equations. . .
SAUVIM
Gianluca Antonelli
Outline
UVMSs
Introduction
Mathematical modeling
Two words about dynamic control
Kinematic control
ALIVE
Gianluca Antonelli
(semi)autonomus UVMSs
Use of a manipulator is common for ROV, mainly in remotely
controlled or in a master-slave configuration
Among the first autonomus modes:
AMADEUS I & II before 2000, EU
SAUVIM 1997, USA
PETASUS, Korea
ALIVE 2000-2003, EU
Twin Burger + manipulator, Japan
TRIDENT 2010-2012, EU
PETASUS
Gianluca Antonelli
Notation1
(roll)
(surge)
(pitch)
xb
(sway)
yb
(yaw)
(heave)
zb
y
z
Motion along x
Motion along y
Motion along z
Rotation about x
Rotation about y
Rotation about z
1
Surge
Sway
Heave
Roll
Pitch
Yaw
Forces and
moments
X
Y
Z
K
M
N
1, 2
1, 2
u
v
w
p
q
r
x
y
z
[Fossen(1994)]
Gianluca Antonelli
Rigid body attitude
roll
yaw
Euler angles commonly used

pitch
ok for the vehicle, designed stable in roll and pitch

For the end-effector possible issues of representation singularities
non-minimal representations (quaternions)
Gianluca Antonelli
Rigid body kinematics

1
R6
=
2

1
R6
=
2

and by defining the matrix J e (RIB ) R66

B

RI
O 33
I
J e (RB ) =
O 33 J k,o (RIB )
it is
= J e (RIB )
body-fixed velocities
Gianluca Antonelli
Rigid body dynamics

moving in the free space
body-fixed acceleration
M RB + C RB () = v
6-dof force/moment at the body
M RB

mI 3
mS(r bC )
=
R66
mS(r bC )
I Ob

Gianluca Antonelli
Added mass and inertia

A body moving in a fluid accelerates it ( 1000 kg/m3 )
Need to account for an additional inertia
(the added mass is not a quantity to be added to the body such that
it has an increased mass)
For submerged bodies, with common AUV shape at low velocities:

M A = diag {Xu , Yv , Zw , Kp , Mq , Nr }
0
0
0
0
Zw w
Yv v
0
0
0
Zw w
0
Xu u
0
0
Y
v
X
u
0
v
CA =
0
Zw w
Yv v
0
Nr r
Mq q
Zw w
0
Xu u Nr r
0
Kp p
Yv v Xu u
0
Mq q Kp p
0
Gianluca Antonelli
Damping
Viscosity of the fluid causes dissipative drag and lift forces to the body
lift
drag
relative flow
The simplest model is drag-only, diagonal, linear/quadratic in velocity

D RB ()
DRB () = diag {Xu , Yv , Zw , Kp , Mq , Nr } +

diag Xu|u| |u| , Yv|v| |v| , Zw|w| |w| , Kp|p| |p| , Mq|q| |q| , Nr|r| |r|
Gianluca Antonelli
Current
Assume a current constant and irrotational in the inertial frame
c,x
c,y
c,z
I
Ic = 0
c =
0
0
0
effects added considering the relative velocity in body-fixed frame

I
r = RB
I c
in the Coriolis/centripetal and damping
Gianluca Antonelli
Current
Ic
x
o
y
ob
xb
yb
ob
xb
yb
intuitively, the current is pushing the vehicle

Gianluca Antonelli
Gravity and buoiancy
0
B
f G (RB
0
I ) = RI
W
gI
ox
z
ob
xb
zb
fb
rb
fb
rb
rg
f
g
rg
fg
Mr

0
B
B
f B (RI ) = RI 0
B
obxb
zb
B
B
B
MR = r G f G (RB
I ) + r B f G (RI )
B
linear in the 3 parameters: W r B
G Br B constant in body-fixed
Gianluca Antonelli
Some dynamic considerations

Considering the sole vehicle two effects affects steady state
current effect, constant in the inertial frame
restoring forces, (depends on) constant in the body-fixed frame
Proper integral/adaptive actions need to be designed for fine
positioning to avoid disturbance caused by the controller 2
[Antonelli(2007)]
Gianluca Antonelli
Some dynamic considerations

Considering the sole vehicle two effects affects steady state
current effect, constant in the inertial frame
restoring forces, (depends on) constant in the body-fixed frame
Proper integral/adaptive actions need to be designed for fine
positioning to avoid disturbance caused by the controller 2
Ic
Ic
inertial
2
current
compensation
during a 90
rotation
body-fixed
[Antonelli(2007)]
Gianluca Antonelli
Thrusters
6 or more for full vehicle control (thrust required also in hovering)
force/moment (nonlinear) function of
propeller revolution
fluid speed
input torque
affected by several parameters
fluid density
tunnel cross-sectional area
tunnel length
propeller diameter and input-output volumetric flowrate
main cause of bandwidth constraints and limit cycles
Gianluca Antonelli
Some references
For modeling and control of marine vehicles in a control perspective:
[Fossen(1994)]
[Fossen(2002)]
[Antonelli et al.(2008)Antonelli, Fossen, and Yoerger]
[Fossen(2011)]
Gianluca Antonelli
UVMS kinematics
ee =
ee1
= J w (RIB , q)
ee2
end-effector velocities
Oi
= 2
q
system velocities
Jacobian
ee
Gianluca Antonelli
UVMS dynamics
Dynamics via classical Newton-Euler equations by propagating the
velocities and forces
i g
f i+1 , i+1
Bi
r i1,B
Oi1
r i1,i
r i1,C
r i,C
Oi
Ci
f i , i
di
Gianluca Antonelli
mi g
UVMS dynamics in matrix form

M (q) + C(q, ) + D(q, ) + g(q, RIB ) =
formally equal to a ground-fixed industrial manipulator
however. . .
Uncertainty in the model knowledge

Low bandwidth of the sensors readings
Difficulty to control the vehicle in hovering
Dynamic coupling between vehicle and manipulator
Kinematic redundancy of the system
[Siciliano et al.(2008)Siciliano, Sciavicco, Villani, and Oriolo]

Gianluca Antonelli
UVMS dynamics
Movement of vehicle and manipulator coupled
movement of the vehicle carrying the manipulator
law of conservation of momentum
Need to coordinate
at velocity level kinematic control
at torque level dynamic control
[McLain et al.(1996b)McLain, Rock, and Lee]

[McLain et al.(1996a)McLain, Rock, and Lee]
Gianluca Antonelli
Need for coordination

Coordination and redundancy exploitation is required5 :
Redundancy at torque level?
Space manipulator literature?
Need to exactly compensate for

the dynamics, not appropriate
for the underwater environment
The assumption of the

momentum conservation is not
valid
[Khatib(1987), Sentis(2007),
Nenchev et al.(1992)Nenchev, Umetani, and Yoshida]
Gianluca Antonelli



valid
Gianluca Antonelli



valid
Gianluca Antonelli
Needs for coordination

let us move to the kinematical level
What is coming next
an example
a short review
algorithms & tasks for UVMSs
balance movement between vehicle/manipulator
Gianluca Antonelli
A first kinematic solution

Hoping the vehicle in hovering is not the best strategy to e.e. fine
positioning6 , better to kinematically compensate with the manipulator
[Hildebrandt et al.(2009)Hildebrandt, Christensen, Kerdels, Albiez, and Kirchner]

Gianluca Antonelli
Kinematic control in pills
A robotic system is kinematically redundant when it possesses more

degrees of freedom than those required to execute a given task
Redundancy may be used to add additional tasks and to handle
singularities
Example for the sole end-effector trajectory
ee,d
d , qd
IK
, q
control
off-line trajectory planning not appropriate underwater

Gianluca Antonelli
Kinematic control in pills -2Starting from a generic m-dimensional task

= f (, q) Rm
it is required to invert
= J (, q)
The configurations at which J Rm6+n is rank deficient are
kinematic singularities
The mobility of the structure is reduced
Infinite solutions to the inverse kinematics problem might exist
Close to a kinematic singularity at small task velocities can
correspond large joint velocities
Gianluca Antonelli
Kinematic control in pills -3 = J inverted by solving proper optimization problems

Pseudoinverse
= J = J T J J T
Transpose-based
1
= J T
Weighted pseudoinverse
= J W = W 1 J T J W 1 J T
Damped Least-Squares
= J T J J T + 2 I m
need for closed-loop also. . .
Gianluca Antonelli
1
1
Kinematic control in pills -4Handling several tasks7

Extended Jacobian
Add additional (6 + n) m constraints
h(, q) = 0
with associated J h
such that the problem is squared with

J
=
Jh
0
[Chiaverini et al.(2008)Chiaverini, Oriolo, and Walker]

Gianluca Antonelli
Kinematic control in pills -4Augmented Jacobian

An additional task is given
h = h(, q)
with associated J h
such that the problem is squared with

=
Jh
h
Gianluca Antonelli
Kinematic control in pills -4
A mapping from the controlled variable to the task space

An inverse mapping is required
Additional tasks may be considered (e.g. task priority)
Gianluca Antonelli

Gianluca Antonelli

Gianluca Antonelli
Kinematic control in pills -4Task priority redundancy resolution

h = h(, q)
with associated J h
further projected on the the null space of the higher priority one
i

h
h J h J
= J + J h I J J
Gianluca Antonelli
Kinematic control in pills -4Singularity robust task priority redundancy resolution

h = h(, q)
with associated J h
further projected on the the null space of the higher priority one

= J + I J J J h h
we are talking about algorithmic singularities here. . .

Gianluca Antonelli
Kinematic control in pills -4Agility task priority9

Task priority framework to handle both precision and set tasks
Each task is the norm of the corresponding error (i.e., mi = 1)
Recursive constrained least-squares within the set satisfying
higher-priority tasks
AMADEUS
9
[Casalino et al.(2012)Casalino, Zereik, Simetti, Sperind`e, and Turetta]

Gianluca Antonelli
Kinematic control in pills -4Behavioral algorithms (behavior=task), bioinspired, artifical potentials

supervisor
1 2 3
behavior a
1 N
2
sensors
behavior b
3
behavior c
Gianluca Antonelli
P
N
Tasks to be controlled
Given 6 + n DOFs and m-dimensional tasks: End-effector
position, m = 3
pos./orientation, m = 6
distance from a target, m = 1
alignment with the line of sight, m = 2
Gianluca Antonelli
Manipulator joint-limits
several approaches proposed, m = 1 to n, e.g.
n
X
qi,max qi,min
1
h(q) =
ci (qi,max qi )(qi qi,min )
i=1
Gianluca Antonelli
Drag minimization, m = 1
10
h(q) = D T (q, )W D(q, )

within a second order solution
= J
10

k I J J
"
h
q
h
+
[Sarkar and Podder(2001)]

Gianluca Antonelli
Manipulability/singularity, m = 1

h(q) = det J J T
(In 11 priorities dynamically swapped between singularity and e.e.)
close to
singularity
singularity
set
inhibited direction
joints
11
[Kim et al.(2002)Kim, Marani, Chung, and Yuh]

Gianluca Antonelli
Restoring moments:
m = 3 keep close gravity-buoyancy of the overall system
12
m = 2 align gravity and buoyancy (SAUVIM is 4 tons)
13
fb
fg
12
13
[Han and Chung(2008)]

[Marani et al.(2010)Marani, Choi, and Yuh]
Gianluca Antonelli
Obstacle avoidance m = 1
Gianluca Antonelli
Workspace-related variables
Vehicle distance from the bottom, m = 1
Vehicle distance from the target, m = 1
Gianluca Antonelli
Sensors configuration variables
Vehicle roll and pitch, m = 2
Misalignment between the camera optical axis and the target line
of sight, m = 2
Gianluca Antonelli
However. . .
End effector going out of the workspace and one (eventually weighted)
task always leads to singularity
manipulator stretched
Gianluca Antonelli
Balance movement between vehicle and manipulator

Need to distribute the motion e.g.:
move mainly the manipulator when target in workspace
move the vehicle when approaching the workspace boundaries
move the vehicle for large displacement
Some solutions, among them dynamic programming or fuzzy logic
Gianluca Antonelli
Fuzzy logic to balance the movement14

Within a weighted pseudoinverse framework
J W
=W
JW

T 1
(1 )I 6 O 6n
() =
O n6
I n
with [0, 1] output of a fuzzy inference engine

Secondary tasks activated by additional fuzzy variables i [0, 1]
!

X
= J W (x E,d + K E eE ) + I J W J W
i J s,i ws,i
i
Only one i active at once

Need to be complete, distinguishable, consistent and compact
Beyond the dicotomy fuzzy/probability theory very effective in
transferring ideas
14
[Antonelli and Chiaverini(2003)]

Gianluca Antonelli
Dynamic programming to balance the movement15

Freeze the vehicle velocity and implement the agility task priority
to the sole manipulator
Freeze the manipulator velocity and find the vehicle velocity
needed for the remaining tasks components not satisfied
e
15

Gianluca Antonelli
Dynamic programming to balance the movement15

Freeze the vehicle velocity and implement the agility task priority
to the sole manipulator
Freeze the manipulator velocity and find the vehicle velocity
needed for the remaining tasks components not satisfied
e
15

Gianluca Antonelli
Acknowledge
Several researchers kindly provided the materials/video (or the
explications...) for this talk
In casual order:
ISME (Pino Casalino, . . . )
TRIDENT partners (Pedro Sanz, Pere Ridao, . . . )
SAUVIM partners (Junku Yuh, Giacomo Marani, . . . )
DFKI (Frank Kirchner)
OTTER (Tim McLain)
Gianluca Antonelli
Bibliography I
G. Antonelli.
Underwater robots. Motion and force control of vehicle-manipulator systems.
Springer Tracts in Advanced Robotics, Springer-Verlag, Heidelberg, D, 2nd
edition, June 2006.
G. Antonelli.
On the use of adaptive/integral actions for 6-degrees-of-freedom control of
autonomous underwater vehicles.
IEEE Journal of Oceanic Engineering, 32(2):300312, April 2007.
G. Antonelli and S. Chiaverini.
Fuzzy redundancy resolution and motion coordination for underwater
vehicle-manipulator systems.
IEEE Transactions on Fuzzy Systems, 11(1):109120, 2003.
G. Antonelli, T. Fossen, and D. Yoerger.
Springer Handbook of Robotics, chapter Underwater Robotics, pages 9871008.
B. Siciliano, O. Khatib, (Eds.), Springer-Verlag, Heidelberg, D, 2008.
Gianluca Antonelli
Bibliography II
G. Casalino, E. Zereik, E. Simetti, S. Torelli A. Sperind`e, and A. Turetta.
Agility for underwater floating manipulation: Task & subsystem priority based
control strategy.
In 2012 IEEE/RSJ International Conference on Intelligent Robots and
Systems, Vilamoura, PT, october 2012.
S. Chiaverini, G. Oriolo, and I. D. Walker.
Springer Handbook of Robotics, chapter Kinematically Redundant
Manipulators, pages 245268.
B. Siciliano, O. Khatib, (Eds.), Springer-Verlag, Heidelberg, D, 2008.
T.I. Fossen.
Guidance and Control of Ocean Vehicles.
Chichester New York, 1994.
Gianluca Antonelli
Bibliography III
T.I. Fossen.
Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and
Underwater Vehicles.
Marine Cybernetics, Trondheim, Norway, 2002.
T.I. Fossen.
Handbook of marine craft hydrodynamics and motion control.
Wiley, 2011.
J. Han and W.K. Chung.
Coordinated motion control of underwater vehicle-manipulator system with
minimizing restoring moments.
In Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International
Conference on, pages 31583163. IEEE, 2008.
Gianluca Antonelli
Bibliography IV
M. Hildebrandt, L. Christensen, J. Kerdels, J. Albiez, and F. Kirchner.
Realtime motion compensation for ROV-based tele-operated underwater
manipulators.
In IEEE OCEANS 2009-Europe, pages 16, 2009.
O. Khatib.
A unified approach for motion and force control of robot manipulators: The
operational space formulation.
IEEE Journal of Robotics and Automation, 3(1):4353, 1987.
J. Kim, G. Marani, WK Chung, and J. Yuh.
Kinematic singularity avoidance for autonomous manipulation in underwater.
Proceedings of PACOMS, 2002.
G. Marani, S.K. Choi, and J. Yuh.
Real-time center of buoyancy identification for optimal hovering in autonomous
underwater intervention.
Intelligent Service Robotics, 3(3):175182, 2010.
Gianluca Antonelli
Bibliography V
T.W. McLain, S.M. Rock, and M.J. Lee.
Coordinated control of an underwater robotic system.
In Video Proceedings of the 1996 IEEE International Conference on Robotics
and Automation, pages 46064613, 1996a.
T.W. McLain, S.M. Rock, and M.J. Lee.
Experiments in the coordinated control of an underwater arm/vehicle system.
Autonomous robots, 3(2):213232, 1996b.
D. Nenchev, Y. Umetani, and K. Yoshida.
Analysis of a redundant free-flying spacecraft/manipulator system.
Robotics and Automation, IEEE Transactions on, 8(1):16, 1992.
N. Sarkar and T.K. Podder.
Coordinated motion planning and control of autonomous underwater
vehicle-manipulator systems subject to drag optimization.
Oceanic Engineering, IEEE Journal of, 26(2):228239, 2001.
Gianluca Antonelli
Bibliography VI
L. Sentis.
Synthesis and Control of Whole-Body Behaviors in Humanoid Systems.
PhD thesis, Stanford University, 2007.
B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo.
Robotics: modelling, planning and control.
Springer Verlag, 2008.
Gianluca Antonelli

2.2.a.lecture Gianluca Antonelli

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2.2.a.lecture Gianluca Antonelli

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Introduction to modeling and control

of underwater vehicle-manipulator systems

TRIDENT school, Mallorca, 1 october 2012

Targeted audience and talks shape

equations, equations still equations. . .

TRIDENT school, Mallorca, 1 october 2012

TRIDENT school, Mallorca, 1 october 2012

TRIDENT school, Mallorca, 1 october 2012

TRIDENT school, Mallorca, 1 october 2012

Rigid body attitude

Euler angles commonly used

ok for the vehicle, designed stable in roll and pitch

TRIDENT school, Mallorca, 1 october 2012

Rigid body kinematics

and by defining the matrix J e (RIB ) R66

TRIDENT school, Mallorca, 1 october 2012

Rigid body dynamics

6-dof force/moment at the body

TRIDENT school, Mallorca, 1 october 2012

Added mass and inertia

For submerged bodies, with common AUV shape at low velocities:

TRIDENT school, Mallorca, 1 october 2012

The simplest model is drag-only, diagonal, linear/quadratic in velocity

TRIDENT school, Mallorca, 1 october 2012

effects added considering the relative velocity in body-fixed frame

in the Coriolis/centripetal and damping

TRIDENT school, Mallorca, 1 october 2012

intuitively, the current is pushing the vehicle

TRIDENT school, Mallorca, 1 october 2012

Gravity and buoiancy

TRIDENT school, Mallorca, 1 october 2012

Some dynamic considerations

TRIDENT school, Mallorca, 1 october 2012

Some dynamic considerations

TRIDENT school, Mallorca, 1 october 2012

TRIDENT school, Mallorca, 1 october 2012

[Antonelli et al.(2008)Antonelli, Fossen, and Yoerger]

TRIDENT school, Mallorca, 1 october 2012

TRIDENT school, Mallorca, 1 october 2012

TRIDENT school, Mallorca, 1 october 2012

UVMS dynamics in matrix form

Uncertainty in the model knowledge

[Siciliano et al.(2008)Siciliano, Sciavicco, Villani, and Oriolo]

TRIDENT school, Mallorca, 1 october 2012

[McLain et al.(1996b)McLain, Rock, and Lee]

TRIDENT school, Mallorca, 1 october 2012

Need for coordination

Redundancy at torque level?

Space manipulator literature?

Need to exactly compensate for

The assumption of the

TRIDENT school, Mallorca, 1 october 2012

Need for coordination

Redundancy at torque level?

Space manipulator literature?

Need to exactly compensate for

The assumption of the

TRIDENT school, Mallorca, 1 october 2012

Need for coordination

Redundancy at torque level?

Space manipulator literature?

Need to exactly compensate for

The assumption of the

TRIDENT school, Mallorca, 1 october 2012