Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)
DOI: 10.1109/ut.2004.1405575
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Dynamics analysis and resolved acceleration control of an autonomous underwater vehicle equipped with a manipulator

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Cited by 14 publications
(7 citation statements)
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“…For the experiments, the AUV system is also redesigned to mount two laptop PCs, one for motion control and the other for decision making. Experimental results show that the motion of the manipulator and the AUV are close to the simulation results [8].…”
Section: Introductionsupporting
confidence: 65%
“…For the experiments, the AUV system is also redesigned to mount two laptop PCs, one for motion control and the other for decision making. Experimental results show that the motion of the manipulator and the AUV are close to the simulation results [8].…”
Section: Introductionsupporting
confidence: 65%
“…The motor torques so computed are then fed back to the thruster dynamic model described by (13) in order to find the actual thrust forces required to drive the AUV as desired.…”
Section: T =Jm [Joo+j1]lt]+abmmentioning
confidence: 99%
“…Ishitsuka et a1 . [13] proposed resolved acceleration control of a UVMS having a 2-link manipulator. Han et a1 .…”
Section: Introductionmentioning
confidence: 99%
“…When t=0, joint angular rate a =0, error e = ro and the integral does not act, the PWM voltage supply VoltagepwM =Kp XrO (4) We choose Kp=4.4 at the beginning and the PWM voltage supply is 3V and the DC motor voltage supply is 14.4V, which is out of the system's dead zone and doesn't exceed the limit of power supply. The open loop transfer function with PI correction is C(s)-0.77(1+1/ Ts) s(0.125s +l)(T2s + 1) where T2=1/w2, w2> , take 7 =0.125 can maximize the frequency width of intermediate frequency [6].…”
Section: Angular Rate Control and Exper-iment Of The Two Jointsmentioning
confidence: 99%
“…The design of underwater electric manipulator and coordinated control between it and vehicle are important job being done by several institutes. For example, the interaction between a one-link manipulator and OTTER AUV is studied in Stanford university from 1995 [1], SAUVIMP [2], a semi-autonomous vehicle with a 7-DOF electric manipulator is under development at the Autonomous System Laboratory of University of Hawaii, a semi-autonomous underwater vehicle for evaluation of manipulator technology has been developed in Korea Ocean Research and Development Institute [3], and an underwater electric manipulator driven by magnet coupling to be equipped for Twin-Burger AUV has been designed by Kyushu Institute of Technology with other Institutes [4]. As a component of autonomous/semiautonomous underwater vehicle-manipulator system, medium and small-sized underwater electric manipulator is much more dexterous and easy to produce than hydraulic manipulator, so using underwater electric manipulator to exploit ocean is much more promising.…”
Section: Introductionmentioning
confidence: 99%