Analysis on dynamics of underwater robot manipulators based on iterative learning control and time-scale transformation

Author

Kawamura, Sadao ; Sakagami, Norimitsu

Author_Institution

Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan

Volume

2

fYear

2002

fDate

2002

Firstpage

1088

Lastpage

1094

Abstract

A new method to analyze the dynamics of underwater robot manipulators is proposed in this paper. In the proposed method, hydrodynamic terms such as added mass, drag and buoyancy in dynamics of underwater robots are obtained by iterative learning control and time-scale transformation. The advantage of the proposed method is not to use parameter estimation of the dynamics. In this paper, we explain that the proposed method can be applied to hardware design, motion control and motion planning of underwater robots. Moreover, the experimental results using a 1-DOF and a 3-DOF manipulator demonstrate the effectiveness of the proposed method

Keywords

hydrodynamics; iterative methods; learning systems; manipulator dynamics; motion control; path planning; underwater vehicles; dynamics; hydrodynamic; iterative learning control; motion control; motion planning; time-scale transformation; underwater robot manipulators; Hardware; Hydrodynamics; Iterative methods; Manipulator dynamics; Parameter estimation; Robots; Torque; Vehicle dynamics; Vehicles; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1014688

Filename

1014688