Digital type disturbance compensation control of a floating underwater robot with 2 link manipulator View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2008-12

AUTHORS

Takashi Yatoh, Shinichi Sagara, Masakazu Tamura

ABSTRACT

We have proposed continuous and discrete time resolved acceleration control methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been shown by experiments. In this paper, we propose a digital type disturbance compensation control method based on the RAC method considering singular configuration of manipulator. Experimental results show the effectiveness of the proposed method. More... »

PAGES

377-381

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s10015-008-0585-6

DOI

http://dx.doi.org/10.1007/s10015-008-0585-6

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1016016650


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