Underwater gripping control with waterproof glove for robot hand

Fuzzy Trajectory Control Design for Underwater Robot

The URV is operated manually with a joystick or automatically with a computer. The automatic control of the underwater robot is a difficult problem due to its nonlinear dynamics. Moreover, the dynamics can change according to the alteration of configuration to be suited to the mission. In order to cope with those difficulties, the control system should be flexible. An interesting review of clas...

Autonomous Robot Control for Underwater Tunnel Mapping

Vision Guided Robot Gripping Systems

Industrial robots are used customary without any embedded sensors. They rely on a predictable pose of an object (position and orientation in 6 degrees of freedom, 6DOF) when performing the task of gripping parts located for instance on palettes or assembly lines. In practice though, a part can easily deviate from its ideal nominal location and a robot having no embedded sensors can miss or cras...

control and guidance of an underwater robot via fuzzy control method

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

Complete SE3 underwater robot control with arbitrary thruster configurations

We present a control algorithm for autonomous underwater robots with modular thruster configuration. The algorithm can handle arbitrary thruster configurations. It maintains the robot’s desired attitude while solving for translational motion. The attitude can be arbitrarily chosen from the special orthogonal group SO allowing the robot all possible orientations. The desired translational veloci...