浮遊型３リンク水中ロボットの位置制御ベースインピーダンス制御実験

抄録

Since Underwater Vehicle-Manipulator Systems (UVMS) are expected to play an important role in futre ocean development, we have proposed position and force control methods for UVMS. In this paper, we show the usefulness of the proposed control methods by an experiment using a 3-link dual arm underwater robot that grip a fixed underwater object.