Stochastic control of a manipulator in a fluid environment

摘要

This paper presents a stochastic controller, based on an augmented stochastic dynamical model of robot manipulators including noisy flow effects. The model developed allows the regulation of motions of a manipulator subjected to highly variable flow whose effects are modeled as stochastic perturbations. The technique described here should help to stabilize the manipulations in a fluid environment, without the help of an operator. Some results obtained using the present stochastic controller for a manipulator simulated in a wind tunnel, are presented.