Title :
Co-ordinated control of multiple manipulators in underwater robots
Author :
Kato, Naomi ; Lane, David M.
Author_Institution :
Sch. of Marine Sci. & Technol., Tokai Univ., Shizuoka, Japan
Abstract :
Reports analysis and simulation studies for the co-ordinated control of multiple manipulators on a free swimming underwater robot. The control objective is to perform an open loop control of the end effector position of one of the arms. A formulation is derived for both the inverse dynamics and inverse kinematics of an underwater robot with multiple manipulators, having a redundancy in degrees of freedom (DOF) of motion, in the presence of external generalised forces. The method is applied to a model of an underwater robot comprising a 6 DOF mission arm and a further pair of 2 DOF paddling arms used for stabilisation in a free swimming condition. The numerical simulation results show the effectiveness of the presented co-ordinated control method with the assistance of the stabilising arms
Keywords :
cooperative systems; manipulator dynamics; manipulator kinematics; marine systems; position control; 2 DOF paddling arms; 6 DOF mission arm; co-ordinated control; end effector position control; external generalised forces; free swimming underwater robot; inverse dynamics; inverse kinematics; multiple manipulators; open loop control; redundancy; Angular velocity; Arm; Force control; Manipulator dynamics; Marine technology; Open loop systems; Orbital robotics; Robot control; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506539
