Reduction of the dynamic coupling between a manipulator and ROV using variable structure control

M. W. Dunnigan; G. T. Russell

Reduction of the dynamic coupling between a manipulator and ROV using variable structure control

M. W. Dunnigan
, G. T. Russell

School of Engineering & Physical Sciences

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

Demonstrated in this paper is the effect of dynamic coupling between a manipulator and ROV. It aims to remove the need for a mechanical attachment arm by providing the ROV with a hover control system that takes account of the dynamic interactions caused by manipulator motion. Results show the dynamic interaction present when the ROV's state vector is not controlled.

Original language	English
Pages (from-to)	1578-1583
Number of pages	6
Journal	IEE Conference Publication
Volume	2
Issue number	389
Publication status	Published - 1994
Event	Proceedings of the International Conference on CONTROL '94. Part 2 (of 2) - Coventry, UK Duration: 21 Mar 1994 → 24 Mar 1994

Cite this

@article{be08a3921b554efe8cb9e69eccffa4d3,

title = "Reduction of the dynamic coupling between a manipulator and ROV using variable structure control",

abstract = "Demonstrated in this paper is the effect of dynamic coupling between a manipulator and ROV. It aims to remove the need for a mechanical attachment arm by providing the ROV with a hover control system that takes account of the dynamic interactions caused by manipulator motion. Results show the dynamic interaction present when the ROV's state vector is not controlled.",

author = "Dunnigan, \{M. W.\} and Russell, \{G. T.\}",

year = "1994",

language = "English",

volume = "2",

pages = "1578--1583",

journal = "IEE Conference Publication",

publisher = "Institution of Engineering and Technology",

number = "389",

note = "Proceedings of the International Conference on CONTROL '94. Part 2 (of 2) ; Conference date: 21-03-1994 Through 24-03-1994",

}

TY - JOUR

T1 - Reduction of the dynamic coupling between a manipulator and ROV using variable structure control

AU - Dunnigan, M. W.

AU - Russell, G. T.

PY - 1994

Y1 - 1994

N2 - Demonstrated in this paper is the effect of dynamic coupling between a manipulator and ROV. It aims to remove the need for a mechanical attachment arm by providing the ROV with a hover control system that takes account of the dynamic interactions caused by manipulator motion. Results show the dynamic interaction present when the ROV's state vector is not controlled.

AB - Demonstrated in this paper is the effect of dynamic coupling between a manipulator and ROV. It aims to remove the need for a mechanical attachment arm by providing the ROV with a hover control system that takes account of the dynamic interactions caused by manipulator motion. Results show the dynamic interaction present when the ROV's state vector is not controlled.

UR - https://www.scopus.com/pages/publications/0028194768

M3 - Article

VL - 2

SP - 1578

EP - 1583

JO - IEE Conference Publication

JF - IEE Conference Publication

IS - 389

T2 - Proceedings of the International Conference on CONTROL '94. Part 2 (of 2)

Y2 - 21 March 1994 through 24 March 1994

ER -

Reduction of the dynamic coupling between a manipulator and ROV using variable structure control

Abstract

Other files and links

Fingerprint

Cite this