Resolved Acceleration Control (RAC) of Dual-Arm 3-Link Underwater Robot : Comparison of Control Performance between RAC Method and Computed Torque Method

Abstract

We have proposed a resolved acceleration control method for underwater vehicle-manipulator systems and the effectiveness of the control method have been shown by experiments. In this paper, we compare our proposed method with a computed torque method. Simulation results show that the control performance of our proposed method is better than the conventional computed torque method.