A unified force control approach to autonomous underwater manipulation

A unified force control scheme for an autonomous underwater robotic system is proposed in this paper. This robotic system is composed of a six degree- of-freedom autonomous underwater vehicle (AUV) and a robotic arm that is mo unted on the AUV. A unified force control approach, which combines impedanc e control with hybrid position/force control by means of fuzzy switching to perform autonomous underwater manipulation, is presented in this paper. Th is controller requires a dynamic model of the underwater vehicle-manipulato r system. However, it does not require any model of the environment and the refore will have the potential to be useful in underwater tasks where the e nvironment is generally unknown. The proposed approach combines the advanta ges of impedance control with hybrid control so that both smooth contact tr ansition and force trajectory tracking can be achieved. In the absence of a ny functional autonomous underwater vehicle-manipulator system that can be used to verify the proposed controller, extensive computer simulations are performed and the results are presented in the paper.