2023
DOI: 10.13052/ijfp1439-9776.2432
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Research on Compliant Controller of Underwater Mechanical Capture System Based on Impedance Theory

Abstract: Due to the requirement of the exploitation of marine resources, the execution of specific underwater tasks by onboard manipulators has become one of the key research fields in domestic and all over the world. Based on the underwater capture system designed for the UUV recycling task, which consists of an underwater manipulator and a mechanical capture device, this paper first constructs the kinematics and dynamics model of the capture system through theoretical analysis such as theoretical mechanics and theory… Show more

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