Title :
Digital Resolved Acceleration Control of Underwater Robot with multiple manipulators
Author :
Sagara, Suguru ; Bin Ambar, Radzi
Author_Institution :
Dept. of Mech. & Control Eng., Kyushu Inst. of Technol., Kitakyushu, Japan
Abstract :
Since Underwater Vehicle-Manipulator Systems (UVMS) are expected to make important roles in ocean exploration, many studies about control of single arm UVMSs have been reported. We have also been proposed digital Resolved Acceleration Control (RAC) methods for a single arm UVMS. In this paper, we propose a discrete time RAC method for multiple arms UVMS. Simulation results show the effectiveness of the proposed control method.
Keywords :
acceleration control; discrete time systems; manipulators; marine control; mobile robots; underwater vehicles; digital resolved acceleration control; discrete time RAC method; multiple arms UVMS; multiple manipulators; ocean exploration; single arm UVMS; underwater robot; underwater vehicle-manipulator systems; Acceleration; Equations; Joints; Manipulators; Vectors; Vehicles; Digital Control; Manipulator; Underwater Robot;
Conference_Titel :
Advanced Mechatronic Systems (ICAMechS), 2014 International Conference on
Conference_Location :
Kumamoto
DOI :
10.1109/ICAMechS.2014.6911656
