Performance comparison of control methods using a dual-arm underwater robot-Computed torque based control and resolved acceleration control for UVMS-

Abstract

Most of control methods for Underwater Vehicle-Manipulator Systems (UVMS) have been proposed based on the configuration space consisting of vehicle position and orientation and manipulator joint displacement. Since the vehicle that is the base of the manipulator moves, it is considered that the steady-state error of the manipulator's end-tip remains. The authors have proposed a resolved acceleration control method for UVMS based on the task space consisting of the position and orientation of both the vehicle and end-tip. In this paper, through simulations using a dual -arm underwater robot, we compare our proposed method with a computed torque based control method, which is one of the control methods in the configuration space.