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

External force control for underwater vehicle-manipulator systems

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)
Antonelli, G. ; Dipt. Automazione, Elettromagnetismo, Ingegneria dell''Informazione e Matematica Industriale, Universita degli Studi di Cassino, Italy ; Chiaverini, S. ; Sarkar, N.

The interaction of underwater vehicle-manipulator systems (UVMSs) with the environment is affected by several design constraints such as uncertainty in the model knowledge, presence of hydrodynamic effects, kinematic redundancy of the system, and poor performance of vehicle's actuating system. The paper presents an external force control scheme for UVMSs that does not require dynamic compensation; however, it can benefit from the knowledge of part of the dynamic model. The possible occurrence of loss of contact due to vehicle movement during the task, is also taken into account. A numerical case study shows the application of the proposed technique in a given task

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 6 )

Date of Publication:

Dec 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.