Coordinated Motion Control of a 3-Link Dual-Arm Underwater Vehicle-Manipulator System Using Resolved Acceleration Control Method

摘要

This paper presents a digital resolved acceleration control method for coordinated motion control of an underwater vehicle equipped with manipulators. Using this method, in spite of large position and attitude errors of the underwater vehicle, good control performances of the end-tips of the manipulators to follow a pre-planned trajectory can be achieved. In this work, theoretical work of the proposed method is described. Then, the effectiveness of the proposed method is demonstrated through experimental work using a 3-link dual-arm underwater robot in actual underwater environment.