Dynamics analysis and resolved acceleration control of an autonomous underwater vehicle equipped with a manipulator

Author

Ishitsuka, Makoto ; Sagara, Shinichi ; Ishii, Kazuo

Author_Institution

Dept. of Brain Sci. & Eng., Kyushu Inst. of Technol., Kitakyushu, Japan

fYear

2004

fDate

20-23 April 2004

Firstpage

277

Lastpage

281

Abstract

This paper is concerned with dynamics analysis and control of a Autonomous Underwater Vehicle (AUV) equipped with a manipulator. First, kinematics and dynamics of a 2-link underwater manipulator mounted on "Twin-Burger", and a Resolved Acceleration Control (RAC) method are described. Next, since the coordinate action between manipulator and AUV is required, the routing algorithm considering the dynamic manipulability of the robot is proposed. Computer simulation using the RAC method and the routing algorithm shows the good control performance.

Keywords

acceleration control; digital simulation; manipulator dynamics; manipulator kinematics; oceanographic equipment; oceanographic techniques; remotely operated vehicles; telerobotics; underwater vehicles; AUV; RAC method; Twin-Burger equipped 2-link underwater manipulator; autonomous underwater vehicle; computer simulation; resolved acceleration control; robot dynamics analysis; routing algorithm; underwater manipulator dynamics; underwater manipulator kinematics; Acceleration; Computer simulation; Heuristic algorithms; Intelligent robots; Manipulator dynamics; Orbital robotics; Paper technology; Robot kinematics; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Underwater Technology, 2004. UT '04. 2004 International Symposium on

Print_ISBN

0-7803-8541-1

Type

conf

DOI

10.1109/UT.2004.1405575

Filename

1405575