Automatic stabilization system of underwater manipulation robot

Author

Koval, Elena V.

Author_Institution

Far Eastern State Tech. Univ., Vladivostok, Russia

Volume

1

fYear

1994

fDate

13-16 Sep 1994

Abstract

This paper describes the problem of underwater vehicle (UV) stabilization in space while the manipulator is operating. When carrying out underwater technical works by means of an UV having a manipulator it is desirable to perform manipulation operations in the regime of the UV hovering above the complicated fixation. UV stabilization is achieved by compensation all the effects caused by the operating manipulator on the UV in water environment. This automatical stabilization is formed due to input or the required control signals into UV corresponding propellers. These propellers counteract the effects on the motionless vehicle

Keywords

compensation; kinematics; manipulators; marine systems; position control; robust control; automatic stabilization; compensation; position control; propellers; underwater manipulation robot; underwater vehicle; Automatic generation control; Computational complexity; Grippers; Manipulator dynamics; Orbital robotics; Propellers; Propulsion; Robot kinematics; Robotics and automation; Signal generators;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '94. 'Oceans Engineering for Today's Technology and Tomorrow's Preservation.' Proceedings

Conference_Location

Brest

Print_ISBN

0-7803-2056-5

Type

conf

DOI

10.1109/OCEANS.1994.363832

Filename

363832