The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2021
Session ID : 1A1-B06
Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 06, 2021 - June 08, 2021

Experiments of position control for 3-link dual-arm underwater robot
- Comparison of resolved acceleration control method for UVMS and computed torque method -
*Yuu MATSUO, Yuki TAKAZAKI, Yuta HANAZAWA, Shinichi SAGARA, Fumiaki TAKEMURA
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Keywords: Underwator Robot, Manipulator, Position Control
CONFERENCE PROCEEDINGS RESTRICTED ACCESS

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Abstract

We have proposed a Resolved Acceleration Control (RAC) method for Underwater VehicleManipulator Systems which is a position control method. In this paper, we report experimental results of performance comparison between computed torque method, which is a control method for joint space and the RAC method.

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© 2021 The Japan Society of Mechanical Engineers
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