Coordinated motion control of a 3-link dual-arm underwater vehicle-manipulator system using resolved acceleration control method
This paper presents a digital resolved acceleration control method for coordinated motion control of an underwater vehicle equipped with manipulators. Using this method, in spite of large position and attitude errors of the underwater vehicle, good control performances of the end-tips of the manipul...
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| Main Authors: | , , |
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| 格式: | Conference or Workshop Item |
| 出版: |
2015
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| 主题: | |
| 在线阅读: | http://eprints.uthm.edu.my/8471/ http://eprints.uthm.edu.my/8471/1/P27_91f621fa33eda6d908ba3fc2e1a4ed05.pdf |
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| 总结: | This paper presents a digital resolved acceleration control method for coordinated
motion control of an underwater vehicle equipped with manipulators.
Using this method, in spite of large position and attitude errors
of the underwater vehicle, good control performances of the end-tips of
the manipulators to follow a pre-planned trajectory can be achieved. In
this work, theoretical work of the proposed method is described. Then,
the effectiveness of the proposed method is demonstrated through experimental
work using a 3-link dual-arm underwater robot in actual underwater
environment. |
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