Supervisors - Dr. Matthew Dunnigan, Heriot-Watt University and Prof. Markus Mueller, University of Edinburgh
PhD Student - Corina Barbalata, Heriot-Watt University
Status - Closed
This proposal aims to develop new kinematic, dynamic and force control algorithms that allow control of a UVMS for both constrained and unconstrained motion. This will be achieved by fulfilling five main key objectives, which represent novel developments in the area of robotics research and will have clear benefits for SeeByte:
1. A simulation facility for multiple manipulators mounted on a 6 degrees-of-freedom underwater vehicle.
2. Development of UVMS dynamic control algorithms using robust nonlinear and adaptive schemes.
3. Development of UVMS force control algorithms using a hybrid position/force scheme.
4. Practical “in-air” testing of force control algorithms with force/torque sensor information for constrained tasks.
5. Practical underwater testing of kinematic and dynamic control algorithms for constrained tasks.