Analysis on dynamics of underwater robot manipulators basing on iterative learning control and time-scale transformation

被引：0

作者：

Kawamura, S ^{[1
]}

Sakagami, N ^{[1
]}

机构：

[1] Ritsumeikan Univ, Dept Robot, Shiga 5258577, Japan

来源：

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new method to analyze dynamics of underwater robot manipulators is proposed in this paper. In the proposed method, hydrodynamic terms such as added mass, drag and buoyancy in dynamics of underwater robots are obtained by iterative learning control and time-scale transformation. The advantage of the proposed method is not to use parameter estimation of the dynamics. In this paper, we explain that the proposed method can be applied to hardware design, motion control and motion planning of underwater robots. Moreover, the experimental results using a 1-DOF and a 3-DOF manipulator demonstrate the effectiveness of the proposed method.

引用

页码：1088 / 1094

页数：7

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