Abstract
We have proposed continuous-time and discrete-time resolved acceleration control methods for underwater vehicle-manipulator systems and the effectiveness of the control methods has been shown by experiments. In this article, we propose a digital control method considering the singular configuration of manipulator. Experimental results show the effectiveness of the proposed method.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Yuh J (ed) (1995) Underwater robotic vehicles: design and control. TSI Press
H Maheshi J Yuh R Lakshmi (1991) ArticleTitleA coordinated control of an underwater vehicle and robotic manipulator J Robotic Syst 8 339–370
TW McLain SM Rock MJ Lee (1996) ArticleTitleExperiments in the coordinated control of an underwater arm/vehicle system Auton Robots 3 213–232 Occurrence Handle10.1007/BF00141156
TJ Tarn GA Shoults SP Yang (1996) ArticleTitleA dynamic model of an underwater vehicle with a robotic manipulator Auton Robots 3 269–283 Occurrence Handle10.1007/BF00141159
Antonelli G, Chiaverini S (1998) Task-Priority redundancy resolution for underwater vehicle-manipulator systems. Proceedings of the 1998 IEEE ICRA, pp 768–773
TW McLain SM Rock (1998) ArticleTitleDevelopment and experimental validation of an underwater manipulator hydrodynamic model Int J Robotics Res 17 748–759
G Antonelli F Caccavale S Chiaverini et al. (2000) ArticleTitleTracking control for underwater vehicle-manipulator systems with velocity estimation IEEE J Oceanic Eng 25 399–413 Occurrence Handle10.1109/48.855403
N Sarkar TK Podder (2001) ArticleTitleCoordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization IEEE J Oceanic Eng 26 228–239 Occurrence Handle10.1109/48.922789
Yamada S, Sagara S (2002) Resolved motion rate control of an underwater robot with a vertical planar 2-link manipulator. Proceedings of the 7th AROB, pp 230–233
Sagara S (2003) Digital control of an underwater robot with a vertical planar 2-link manipulator. Proceedings of the 8th AROB, pp 524–527
Sagara S, Shibuya K, Tamura M (2004) Experiment of digital RAC for an underwater robot with a vertical planar 2-link manipulator. Proceedings of the 9th AROB, pp 337–340
Sagara S, Shibuya K, Tamura M (2004) Digital resolved acceleration control of underwater vehicle-manipulator systems. Proceedings of the International Symposium on Bio-inspired Systems. Part V. Robotics and Motion Control, pp 21–26
K Yoshida Y Umetani (1993) Control of space manipulators with a generalized jacobian matrix Y Xu T Kanade (Eds) Space robotics: dynamics and control Kluwer Academic Dordrecht 165–204
B Lévesque MJ Richard (1994) ArticleTitleDynamic analysis of a manipulator in a fluid environment Int J Robot Res 13 221–231
S McMillan DE David RB McGhee (1995) ArticleTitleEfficient dynamic simulation of an underwater vehicle with a robotic manipulator IEEE Trans Syst Man Cybern 25 1194–1206 Occurrence Handle10.1109/21.398681
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2005
About this article
Cite this article
Sagara, S., Tamura, M., Yatoh, T. et al. Digital RAC for underwater vehicle-manipulator systems considering singular configuration. Artif Life Robotics 10, 106–111 (2006). https://doi.org/10.1007/s10015-005-0359-3
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/s10015-005-0359-3