Industrial works in the sea, such as renewable energy or oil industries are dependent on underwater repairs which on great depths needs to be unmanned. Since the ability to sense and control applied forces is imperative to minimize damage on company property, the goal for this master thesis was toinvestigate and develop different force feedback control algorithms compatible with the Saab Seaeye eM1-7 electric manipulator, utilizing a 6-DOF load cell. This thesis addressed the conditions for the force feedback control and the behaviour of the control strategies in MATLAB and Gazebo. Tests with the manipulator concluded that force feedback control is possible with the suggested strategies but that the kinematic control needs further development in order to conduct simulations of assembly tasks which requires collaboration between the force feedback and kinematic control objectives.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-204211 |
| Date | January 2024 |
| Creators | Lagerby, Johan, Levin, Assar |
| Publisher | Linköpings universitet, Reglerteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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