Co-ordinated control of multiple manipulators in underwater robots

Naomi Kato, David Michael Lane

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 1996 IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages2505-2510
Number of pages6
ISBN (Print)0-7803-2988-0
Publication statusPublished - 1996
Event1996 13th IEEE International Conference on Robotics and Automation - Minneapolis, MN, United States
Duration: 22 Apr 199628 Apr 1996

Conference

Conference1996 13th IEEE International Conference on Robotics and Automation
CountryUnited States
CityMinneapolis, MN
Period22/04/9628/04/96

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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  • Cite this

    Kato, N., & Lane, D. M. (1996). Co-ordinated control of multiple manipulators in underwater robots. In Proceedings of the 1996 IEEE International Conference on Robotics and Automation (pp. 2505-2510). IEEE.