The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2018
Session ID : 2P1-B07
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Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 02, 2018 - June 05, 2018

Impedance control of 3-link arm equipped to floating dual arm underwater robot
*Yutaka SEKI, Shinichi SAGARA, Fumiaki TAKEMURA
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Keywords: UVMS, Manipulator, Force control
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Abstract

We have been developing position control methods for Underwater Vehicle-Manipulator System (UVMS) and the effectiveness of developing control methods are confined by experiments. In spite of force control methods are also needed for UVMS, the control methods is a few and there is no experimental result. In this paper, we report on the simulation result of impedance control of one arm.

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© 2018 The Japan Society of Mechanical Engineers
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