Abstract
This paper reports analysis and simulation studies for the co-ordinated control of multiple manipulators on a free swimming underwater robot. The control objective is to perform an open loop control of the end effector position of one of the arms. A formulation is derived for both the inverse dynamics and inverse kinematics of an underwater robot with multiple manipulators, having a redundancy in degrees of freedom (DOF) of motion, in the presence of external generalised forces. The method is applied to a model of an underwater robot comprising a 6 DOF mission arm and a further pair of 2 DOF paddling arms used for stabilisation in a free swimming condition. The numerical simulation results show the effectiveness of the presented co-ordinated control method with the assistance of the stabilising arms.
| Original language | English |
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| Title of host publication | Proceedings of the 1996 IEEE International Conference on Robotics and Automation |
| Publisher | IEEE |
| Pages | 2505-2510 |
| Number of pages | 6 |
| ISBN (Print) | 0-7803-2988-0 |
| Publication status | Published - 1996 |
| Event | 1996 13th IEEE International Conference on Robotics and Automation - Minneapolis, MN, United States Duration: 22 Apr 1996 → 28 Apr 1996 |
Conference
| Conference | 1996 13th IEEE International Conference on Robotics and Automation |
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| Country/Territory | United States |
| City | Minneapolis, MN |
| Period | 22/04/96 → 28/04/96 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering