This paper deals with a motion control scheme for autonomous underwater robots equipped with manipulators. It is pointed out in the literature on underwater robotics that the robot body propelled by marine thrusters generally has a considerably slower time response than the manipulator driven by electric motors. Moreover, for a real system, it is generally difficult to precisely control the position of a vehicle floating in water by means of hydrodynamic effects produced by the rotations of thrusters’ propellers. In this paper, we develop a motion controller for the manipulator in consideration of the thruster dynamics including a control input of the vehicle under the condition that the vehicle is differently controlled by a motion controller that can achieve not a precise control performance but a motion stability in the presence of disturbances such as water waves or a water current.


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    Titel :

    Design of a Motion Controller for an Underwater Vehicle-Manipulator System with a Differently-Controlled Vehicle


    Beteiligte:
    Taira, Yuichiro (Autor:in) / Sagara, Shinichi (Autor:in) / Oya, Masahiro (Autor:in)


    Erscheinungsdatum :

    01.09.2018


    Format / Umfang :

    154217 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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