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Gain adjustment of vehicle controller for a semi-autonomous UVMS

Masataka, Urabe and Shinichi, Sagara and Ambar, Radzi (2017) Gain adjustment of vehicle controller for a semi-autonomous UVMS. In: The Twenty-Second International Symposium on Artificial Life and Robotics 2017 (AROB 22nd 2017), 19-21 January 2017, B-Con Plaza, Beppu, Japan.

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Abstract

Master-slave system enables an operator to control a robot motion from a remote area. Instead of harming human lives, a slave robot can be controlled to operate in extreme and hazardous environment. We have been developing a semi-autonomous master-slave system for an underwater vehicle equipped with dual manipulators. The manipulators are manually operated and the vehicle is controlled using the previously proposed resolved acceleration control method. In our previous study, we have confirmed the effectiveness of the master-slave system through preliminary experiment. Based on the experiment, we found that for more efficient practical application, high control performance of the vehicle is extremely necessary for an operator to control the manipulators effectively. In this paper, the experiment results showing that improved control performance of the vehicle resulting to better control of manipulator's end-tip will be reported.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Master-slave system; UVMS; control
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics
Divisions: Faculty of Electrical and Electronic Engineering > Department of Computer Engineering
Depositing User: Mr. Mohammad Shaifulrip Ithnin
Date Deposited: 30 Sep 2019 03:22
Last Modified: 30 Sep 2019 03:22
URI: http://eprints.uthm.edu.my/id/eprint/11688
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