Recently, several articulated manipulators are becoming applied to the ultimated world of nuclear plant, ocean, disaster place and space. Therefore, barous advanced manipulators are required in these environments.
Especially, in case of the manipulators under the water, the difficult problem occures, that the water disturbance prevents the manipulator from moving precisely.
In this paper, the hybrid position/force control with sway-disturbance compensator of the underwater manipulator is presented.
In the first place, the hybrid postion/force control system of the 6 d. o. f. manipulator is proposed. Because this control method is executed without the calculation of Jacobian inverse matrix, this controller can naturally return to the well-known position servo controller.
In the next place, the control compensator with feedforward signals of sway-disturbance and feedback signals of end-effector sensor is proposed.
In the final place, the integrated control system of both the hybrid position/force control and the sway-disturbance compensator is constructed with 32-bit micro-processors, and several experimental results of the 6 d. o. f. underwater manipulator are presented.
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