METHOD FOR ADAPTIVE CONTROL OF UNDERWATER VEHICLE MANIPULATOR Russian patent published in 2024 - IPC B25J9/00 B25J13/00 G05B13/02 

FIELD: underwater robotics technologies.

SUBSTANCE: invention relates to methods for adaptive control of an underwater vehicle manipulator. Disclosed is a control method, which enables to obtain a target position of the end link of the manipulator, made with possibility of use in underwater vehicle manipulation system. First data are obtained, which are a set of values of the target angle of rotation and the target position of the final link of the manipulator in the coordinate system associated with the bottom of the water body. Second data is obtained, which are the current value of the rotation angle of the carrier apparatus and its current position in the coordinate system associated with the bottom of the water body from position sensors. Third data on coordinates of surrounding objects and their type are obtained from the computer vision system. Using the first and second data, the value of the target turning angle is determined and the value of the target position of the final link of the manipulator in the coordinate system associated with the carrier apparatus, and comparing it with the third data. As a result, a control signal is generated to the manipulator drives to achieve the target position and the angle of rotation of the final link of the manipulator.

EFFECT: higher accuracy of manipulator positioning control.

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