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Design of a teleoperation controller for an underwater manipulator

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4 Author(s)
Dong-Soo Kwon ; Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea ; Jee-Hwan Ryu ; Pan-Mook Lee ; Seok-Won Hong

A robust teleoperation controller design method for an underwater manipulator is proposed considering the master and the underwater slave separately. To achieve transparency and stability for a teleoperation of an underwater manipulator in unknown environments with time-varying uncertainties such as added mass, buoyancy, hydraulic drag and friction effect, an adaptive sliding mode control scheme is proposed for robust position tracking control of slave manipulator. To guarantee a force transparency in the master side, disturbance observer is used as a local controller for compensating a friction and coupled nonlinear dynamic effects of the master manipulator. Numerical simulations are performed to demonstrate the transparency and robustness of the proposed controller

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference:

2000