Computer-Controlled Underwater Robot Manipulator

1990 ◽  
Author(s):  
S.I. Sagatun ◽  
T.I. Fossen
Keyword(s):  
Robot Manipulator ◽  
Underwater Robot ◽  
Computer Controlled

A Potential 4-D Fingertip Force Sensor for an Underwater Robot Manipulator

2010 ◽  
Vol 35 (3) ◽  
pp. 574-583 ◽  
Author(s):  
Qiaokang Liang ◽  
Dan Zhang ◽  
Quanjun Song ◽  
Yunjian Ge
Keyword(s):  
Robot Manipulator ◽  
Force Sensor ◽  
Underwater Robot ◽  
Fingertip Force

Adaptive VSS Control with Deformable Sliding Surfaces for Underwater Robot Manipulator Drives

2013 ◽  
Vol 46 (33) ◽  
pp. 257-261
Author(s):  
Vasily E. Markin ◽  
Alexandr A. Dyda ◽  
Dmitry A. Oskin
Keyword(s):  
Robot Manipulator ◽  
Underwater Robot ◽  
Sliding Surfaces

Robust control of a robot manipulator with nonlinearity

Robotica ◽  
1984 ◽  
Vol 2 (2) ◽  
pp. 75-81 ◽  
Author(s):  
Katsuhisa Furuta ◽  
Kazuhiro Kosuge ◽  
Osamu Yamano ◽  
Kageharu Nosaki
Keyword(s):  
Control System ◽  
Robust Control ◽  
Parameter Identification ◽  
Robot Manipulator ◽  
Control Technique ◽  
Nonlinear Feedback ◽  
Input Nonlinearity ◽  
Nonlinear Compensation ◽  
Computer Controlled ◽  
Servo Controller

SUMMARUYThis paper deals with the control technique of a computer-controlled manipulator with high nonlinearity. To overcome the nonlinearity, a linearization of the system by nonlinear feedback has been employed. Because of the difficulty of the parameter identification under the variation of load, it is not easy to make correct nonlinear compensation for its linearization. In this paper, to solve this problem a robust servo controller based on a model is designed for the linearized manipulator, and a control system is constructed taking account of input nonlinearity. The method is applied to the three-joint manipulator endowed with a software servo using a minicomputer, and the effect of the proposed method is investigated.

Design of an underwater robot manipulator for a telerobotic system

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 945-953 ◽  
Author(s):  
Salvador Cobos-Guzman ◽  
Jorge Torres ◽  
Rogelio Lozano
Keyword(s):  
Deep Water ◽  
Degrees Of Freedom ◽  
High Pressures ◽  
Robot Manipulator ◽  
Ocean Currents ◽  
Robotic Arm ◽  
Underwater Robot

SUMMARYThis paper describes a telerobotic system used for manipulation tasks in underwater environments. The telerobotic system is composed of a robotic arm of 3 degrees of freedom. This robotic arm has been designed to support corrosion environments such as seawater or freshwater. The prototype is designed to support several types of perturbations such as ocean currents and high pressures. The main objective is to efficiently control a teleoperation task considering common perturbations present in deep water. Finally, this paper presents the design, modelling and experiments of the underwater telerobotic system.

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