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Coordinated motion control of a 3-link dual-arm underwater vehicle-manipulator system using resolved acceleration control method

Ambar, Radzi and Shinichi , Sagara and Fumiaki , Takemura (2015) Coordinated motion control of a 3-link dual-arm underwater vehicle-manipulator system using resolved acceleration control method. In: Proceedings of the Twenty-fifth (2015) International Ocean and Polar Engineering Conference, 21-26 June 2015, Kona, Big Island, Hawaii, USA.

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Abstract

This paper presents a digital resolved acceleration control method for coordinated motion control of an underwater vehicle equipped with manipulators. Using this method, in spite of large position and attitude errors of the underwater vehicle, good control performances of the end-tips of the manipulators to follow a pre-planned trajectory can be achieved. In this work, theoretical work of the proposed method is described. Then, the effectiveness of the proposed method is demonstrated through experimental work using a 3-link dual-arm underwater robot in actual underwater environment.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Underwater vehicle; manipulator; UVMS; resolved acceleration; control
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Divisions: Faculty of Electrical and Electronic Engineering > Department of Computer Engineering
Depositing User: Mr. Mohammad Shaifulrip Ithnin
Date Deposited: 24 May 2017 07:57
Last Modified: 24 May 2017 07:57
URI: http://eprints.uthm.edu.my/id/eprint/8471
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