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A master-slave control system for a semi-autonomous underwater vehicle-manipulator system

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Abstract

Underwater vehicle-manipulator systems (UVMS) are expected to play an important role in ocean exploration. It is considered that UVMS will be operated by both automatic and manual control. We have proposed an automatic control method. In this article, we propose a master-slave system for a UVMS. The effectiveness of the proposed master-slave control system is demonstrated by using a floating underwater robot with a 2-link manipulator.

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Authors and Affiliations

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

    Kana Kawano, Tomoaki Shimozawa & Shinichi Sagara

Authors
  1. Kana Kawano
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  2. Tomoaki Shimozawa
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  3. Shinichi Sagara
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Corresponding author

Correspondence to Shinichi Sagara.

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Kawano, K., Shimozawa, T. & Sagara, S. A master-slave control system for a semi-autonomous underwater vehicle-manipulator system. Artif Life Robotics 16, 465–468 (2012). https://doi.org/10.1007/s10015-011-0948-2

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  • DOI: https://doi.org/10.1007/s10015-011-0948-2

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