METHOD FOR POSITION-FORCE CONTROL OF AN UNDERWATER VEHICLE WITH A MULTI-LINK MANIPULATOR FOR PERFORMING CONTACT MANIPULATION OPERATIONS WITH UNDERWATER OBJECTS Russian patent published in 2023 - IPC G05B13/02 B25J13/00 B63G8/00 

FIELD: dynamic objects automatic control.

SUBSTANCE: invention relates to the automatic control of dynamic objects in a dense environment, in particular under water. When a multi-link manipulator (MLM) installed on an underwater vehicle (UA) performs contact position-force operations on the object of work, the force and moment reactions on the UA from the contact effect of the MLM working tool on the surface of the object are compensated by the rods of the UA propellers. At the same time, from the measured signal of the resulting external moment on the drive shaft of each degree of freedom of the MLM, the signal of the moment due to the mutual influence of the degrees of freedom of the MLM, as well as the forces of resistance to its movement, including the forces of viscous friction and the forces caused by the attached masses of the surrounding fluid, is subtracted.

EFFECT: increasing the accuracy of working out the required force contact effects of the MLM working tool on the object of work in the hovering mode of the UA near or above the object.

1 cl, 1 dwg