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Digital RAC for underwater vehicle-manipulator systems considering singular configuration

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Abstract

We have proposed continuous-time and discrete-time resolved acceleration control methods for underwater vehicle-manipulator systems and the effectiveness of the control methods has been shown by experiments. In this article, we propose a digital control method considering the singular configuration of manipulator. Experimental results show the effectiveness of the proposed method.

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Authors and Affiliations

  1. Department of Control Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu, 804-8550, Japan

    Shinichi Sagara, Masakazu Tamura, Takashi Yatoh & Kenzo Shibuya

Authors
  1. Shinichi Sagara
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  2. Masakazu Tamura
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  3. Takashi Yatoh
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  4. Kenzo Shibuya
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Corresponding author

Correspondence to Shinichi Sagara.

Additional information

This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2005

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Sagara, S., Tamura, M., Yatoh, T. et al. Digital RAC for underwater vehicle-manipulator systems considering singular configuration. Artif Life Robotics 10, 106–111 (2006). https://doi.org/10.1007/s10015-005-0359-3

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  • DOI: https://doi.org/10.1007/s10015-005-0359-3

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