DocumentCode
257065
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
fYear
2014
fDate
10-12 Aug. 2014
Firstpage
232
Lastpage
237
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Mechatronic Systems (ICAMechS), 2014 International Conference on
Conference_Location
Kumamoto
Type
conf
DOI
10.1109/ICAMechS.2014.6911656
Filename
6911656
Link To Document