A multi-layered controller approach for high precision end-effector control of hydraulic underwater manipulator systems
A multi-layered controller approach for high precision end-effector control of hydraulic underwater manipulator systems
复制标题
一种用于液压水下机械臂系统高精度末端执行器控制的多层控制器方法
作者：
M. Hildebrandt;J. Kerdels;J. Albiez;F. Kirchner
本文提出了一种用于液压深海机械臂的多层控制架构。所提出的架构在 Schilling Robotics Orion7P 机械臂上实现，作为广泛使用的深海机械臂的示例。在许多实验中，新控制器的精度得到了提高。作为提高精度的应用示例，评估并实施了深海连接器的自动插入。
This paper presents a multi layered control architecture for hydraulic deep-sea manipulators. The proposed architecture is implemented on a Schilling Robotics Orion7P manipulator as example for a widely used deep-sea manipulator. In a number of experiments the improved precision of the new controller is shown. As application example for this improved precision the automated plugging of a deep-sea connector was evaluated and implemented.