Modeling of robot manipulators working under the sea and the design of a robust controller

Robotica

Volumn 14, Issue 2, 1996, Pages 213-218

  Choi, Hyeung Sik ^a  

^a Korea Maritime University   (South Korea)

Author keywords

Robust controller; Undersea robots; Unmodeled dynamics

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; DIFFERENTIAL EQUATIONS; DRAG; LOADS (FORCES); LYAPUNOV METHODS; OCEAN CURRENTS; ROBUSTNESS (CONTROL SYSTEMS);

DRAG FORCES; UNDERSEA ROBOTS; UNMODELED DYNAMICS;

MANIPULATORS;

EID: 5844375029     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/s0263574700019123     Document Type: Article

References (9)

1. I. Spangelo and O. Egeland, "Generation of energy-optimal trajectories for an autonomous underwater vehicle" IEEE Int. Conf. Robotics and Automation (1992) pp. 2107-2112.
2. K.R. Goheen, "Modelling Methods for Underwater Robotic Vehicle Dynamics" J. of Robotic Systems 8(3), 295-317 (1991).
3. E.S. Kang, J.S. Song, J.H. Kim and H.S. Cho, "Dynamic Characteristics and Control of Submerged Working Robot Manipulator", Korean Society of Mechanical Engineering 5, No. 2, 488-496 (1991).
4. V.F. Filaretov ad E.V. Koval, "Autonomous Stabilization of Underwater Robots in the Time Manipulation Operations" Proc. Int. O.P.E.C. Osaka, Japan (April. 1994). pp. 382-388.
5. H. Asada and J.J.E. Slotine, Robot Analysis and Control, (John Wiley & Sons, New York, 1985).
6. J.J. Craig, Introduction to Robotics, Mechanics, & Control (Addison-Wesley and Sons. 1986).
7. R. Bhattacharyya, Dynamics of Marine Vehicles (John Wiley & Sons, New York. 1987).
8. J.E.A. John and W.L. Haberman, Fluid Mechanics (Prentice Hall, 1980).
9. J. Corless and G. Leitmann, "Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems" J. Automatic Controls, AC-26, 1139-1143 (1981).