固定物体を片手把持した浮遊型3リンク双腕水中ロボットの分解加速度制御

抄録

We have proposed a resolved acceleration control (RAC) method for floating Underwater Vehicle-Manipulator Systems (UVMS) which is a position control method and the usefulness of the RAC method for UVMS has been verified through experiments. Now, by gripping the fixed object with one hand, it is considered the vehicle instability can be suppressed. In this paper, we show that the proposed control method is applicable even in such a situation.