Dynamic Workspace Control of Underwater Manipulator Considering ROV Motion
نویسندگان
چکیده
منابع مشابه
Nonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System
This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...
متن کاملUnderwater Robots : Motion and Force Control of Vehicle - Manipulator Systems
Many aerospace engineers with an expertise in flight control system design, if tasked with designing a guidance system for an underwater vehicle, would dismiss the problem as easily solvable. To aerospace engineers, underwater vehicles are thought to be nothing more than powered blimps, which have been flying since 1852, when Henri Giffard built the first powered airship, a 143-ft long, cigar-s...
متن کاملDynamic Simulation of Underwater Vehicle Manipulator Systems
Control of Underwater vehicle manipulator systems (UVMS) are limited to human intervened tele operation in almost all practical applications. Extending these missions to autonomous or semi autonomous operation requires accurate dynamic modeling of the system. Such modeling assists system design and controller testing of autonomous UVMS. The study performs a dynamic analysis to capture relative ...
متن کاملControlling the Manipulator of an Underwater ROV Using a Coarse Calibrated Pan Tilt Camera
In this paper we present a vision-based method to control the displacement of robot arm mounted on an underwater ROV. A closed-loop system based on an eye-to-hand visual servoing approach has been designed to achieve this task. We show that, using such an approach, measuring the manipulator motion with proprioceptive sensors is not required to precisely control the end-effector motion. To maint...
متن کاملMotion Control of a 2-link Revolute Manipulator in an Obstacle-Ridden Workspace
In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator arm. We require the end-effector of the arm to move safely to its designated target in a priori known workspace cluttered with fixed circular obstacles of arbitrary position and sizes. Firstly a unique velocity algorithm is used to move the end-effector to its target. Secondly, for obstacle avoid...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Institute of Control, Robotics and Systems
سال: 2011
ISSN: 1976-5622
DOI: 10.5302/j.icros.2011.17.5.460