Cart (Loading....) | Create Account
Close category search window
 

Control of underwater manipulators mounted on an ROV using base force information

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

This paper presents a control scheme for obtaining high manoeuvrability of underwater robot manipulators mounted on a remotely operated vehicle (ROV). The motions of an underwater manipulator can affect the attitude and position of the ROV which should remain stationary in seabed operation. To compensate for the dynamic effect of the underwater manipulator on the ROV, the force-torque (F/T) information between the manipulator and the vehicle is used to regulate the states of the ROV. When an F/T sensor is practically unavailable, a disturbance observer can fill the role of the F/T sensor. This paper proposes a disturbance observer for estimating the interaction forces between the ROV and the manipulator. A two-link manipulator mounted on an ROV is considered and numerical simulations are performed to demonstrate the improvement on the manoeuvrability of the proposed controller.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.