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http://dx.doi.org/10.5302/J.ICROS.2011.17.5.460

Dynamic Workspace Control of Underwater Manipulator Considering ROV Motion  

Shim, Hyung-Won (Korea Ocean Research & Development Institute)
Jun, Bong-Huan (Korea Ocean Research & Development Institute)
Lee, Pan-Mook (Korea Ocean Research & Development Institute)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.5, 2011 , pp. 460-470 More about this Journal
Abstract
This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator's end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.
Keywords
dynamic workspace control; underwater manipulator; remotely operated vehicle; extended Kalman filter;
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