Digital type disturbance compensation control of a floating underwater robot with 2 link manipulator
Digital type disturbance compensation control of a floating underwater robot with 2 link manipulator
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DOI：
10.1007/s10015-008-0585-6
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发表时间：
2008-12
影响因子：
0.9
通讯作者：
T. Yatoh;S. Sagara;M. Tamura
中科院分区：
文献类型：
--
作者：
T. Yatoh;S. Sagara;M. Tamura
我们提出了水下航行器-机械臂系统的连续和离散时间分辨加速度控制方法，并通过实验证明了控制方法的有效性。本文提出了一种考虑机械臂奇异配置的基于RAC方法的数字型扰动补偿控制方法。实验结果表明了该方法的有效性。
We have proposed continuous and discrete time resolved acceleration control methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been shown by experiments. In this paper, we propose a digital type disturbance compensation control method based on the RAC method considering singular configuration of manipulator. Experimental results show the effectiveness of the proposed method.