Title :
Analysis of manipulator arm steadiness during ship-hull mine neutralization by a UUV
Author :
Kemp, Mathieu ; Richardson, Bradley ; Love, Lonnie ; Rodgers, Tony ; Nelson, Kurt ; Dixon, Tracy
Author_Institution :
Bluefin Robot. Corp., Quincy, MA, USA
Abstract :
Accurate tool placement is an essential element of tele-operated ship-hull mine neutralization. In this article we present a framework to analyze the stability of a UUV-mounted manipulator arm during neutralization. Our principal result is a relationship between rate of arm motion and minimum vehicle thrust required to maintain steadiness.
Keywords :
autonomous underwater vehicles; dexterous manipulators; manipulator kinematics; motion control; stability; telerobotics; UUV-mounted manipulator arm; arm motion; manipulator arm steadiness analysis; teleoperated ship-hull mine neutralization; unmanned underwater vehicle; Force; Hydrodynamics; Joints; Manipulators; Marine vehicles; Vectors; Vehicles; UUV; manipulator arm; mine neutralization; modeling; ship-hull inspection;
Conference_Titel :
OCEANS 2011
Conference_Location :
Waikoloa, HI
Print_ISBN :
978-1-4577-1427-6
