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

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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.

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Abbreviations

Σ U :

inertial coordinate frame

Σ i :

link i coordinate frame (i = 0, 1, 2; link 0 means base)

U R i :

coordinate transformation matrix from Σ i to Σ U

p e :

position vector of end-tip of manipulator with respect to Σ U

p 0 :

position vector of origin of Σ0 with respect to Σ U

v i :

linear velocity vector of Σ i with respect to Σ U

ω i :

angular velocity vector of Σ i with respect to Σ U

ϕ i :

relative angle of joint i

x 0 :

position and attitude vector of Σ0 with respect to Σ U (= [p T0 ϕ 0]T)

ϕ :

relative joint angle vector (= [ϕ1 ϕ2]T)

m i :

mass of link i

l i :

length of link i

V i :

volume of link i

D i :

width of link i

\( C_{D_i } \) :

drag coefficient of link i

ρ :

fluid density

a i :

position vector from joint i to center of gravity of link i with respect to Σ U

b i :

position vector from joint i to center of buoyancy of link i with respect to Σ U

E :

identity matrix

g :

gravitational acceleration vector

F j :

thruster force (j = 1, 2, 3)

R :

length form origin of Σ0 to thruster

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Author information

Authors and Affiliations

  1. Department of Control Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu, 804-8550, Japan

    Takashi Yatoh, Shinichi Sagara & Masakazu Tamura

Authors
  1. Takashi Yatoh
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  2. Shinichi Sagara
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  3. Masakazu Tamura
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Corresponding author

Correspondence to Shinichi Sagara.

Additional information

This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007

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Yatoh, T., Sagara, S. & Tamura, M. Digital type disturbance compensation control of a floating underwater robot with 2 link manipulator. Artif Life Robotics 13, 377–381 (2008). https://doi.org/10.1007/s10015-008-0585-6

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  • DOI: https://doi.org/10.1007/s10015-008-0585-6

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