GRIPPING FORCE ESTIMATION FOR AN ROV ROBOTIC ARM IN INTENSIVE AQUACULTURE

Résumé fourni par la source

This paper presents a theoretical framework for estimating the gripping force of a three-degree-of-freedom robotic arm mounted on a remotely operated underwater vehicle, intended for sampling operations in intensive aquaculture systems. Using the static relationship based on the Jacobian transpose, the proposed method reconstructs the force and moment vectors acting at the end-effector from the estimated joint torques. The gripping force is determined by projecting the Cartesian force onto the normal directions of a two-finger gripper. Transmission efficiency and joint friction are incorporated into the model through the definition of an effective torque. The influence of hydrodynamic forces is treated as an external disturbance during quasi-static manipulation. The internal consistency of the model is evaluated through a numerical validation based on representative design parameters for compact underwater manipulators. The analysis indicates that a gripping force of approximately 150–200 N satisfies the friction-based stability condition for typical sampling loads of approximately 100 N. Furthermore, the resulting joint torques remain within the realistic operating limits of actuators commonly used in ROV-mounted manipulators. The findings confirm the dimensional consistency and physical plausibility of the proposed estimation framework, which may be applied to assisted underwater force estimation in aquaculture applications.

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