Title :
A multi-layered controller approach for high precision end-effector control of hydraulic underwater manipulator systems
Author :
Hildebrandt, Marc ; Kerdels, Jochen ; Albiez, Jan ; Kirchner, Frank
Author_Institution :
Underwater Robot. Dept., DFKI RIC Bremen, Bremen, Germany
Abstract :
This paper presents a multi layered control architecture for hydraulic deep-sea manipulators. The proposed architecture is implemented on a Schilling Robotics Orion7P manipulator as example for a widely used deep-sea manipulator. In a number of experiments the improved precision of the new controller is shown. As application example for this improved precision the automated plugging of a deep-sea connector was evaluated and implemented.
Keywords :
end effectors; hydraulic control equipment; motion control; underwater vehicles; Schilling Robotics Orion7P manipulator; deep-sea connector; end-effector control; hydraulic deep-sea manipulators; hydraulic underwater manipulator systems; multilayered controller; Automatic control; Connectors; Control systems; Electrical equipment industry; Manipulators; Remotely operated vehicles; Robotics and automation; Robots; Shoulder; Valves;
Conference_Titel :
OCEANS 2009, MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges
Conference_Location :
Biloxi, MS
Print_ISBN :
978-1-4244-4960-6
Electronic_ISBN :
978-0-933957-38-1
