POSITION CONTROL OF SINGLE LINK UNDERWATER ROBOT MANIPULATOR

被引：0

作者：

Shukor, Ahmad Zaki Hj ^{[1
]}

Miskon, Muhammad Fahmi ^{[1
]}

Ibrahim, Fariz Ali ^{[1
]}

Nor, Muhammad Khairi Md ^{[2
]}

机构：

[1] Univ Teknikal Malaysia Melaka, Robot & Ind Automat Grp, Ctr Robot & Ind Automat, Fac Elect Engn, Melaka, Malaysia

[2] Univ Teknikal Malaysia Melaka, Fac Mech Engn, Melaka, Malaysia

来源：

JURNAL TEKNOLOGI | 2015年 / 74卷 / 09期

关键词：

Underwater manipulator; position control; PID control;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents the responses of underwater manipulator control using conventional PID controller. Underwater manipulation tasks are difficult due to the presence of water as its environment. Many underwater vehicles invented incorporate underwater manipulators which could be used for underwater rescue, recovery or operations such as welding or ship repair. It is desired to investigate the position response of underwater manipulator using conventional PID control without modelling the dynamics which includes motion in water. For this purpose, a single link manipulator was experimented and compared between the response of the manipulator underwater and the manipulator without water to compare accuracy of the position tracking. Two different reference trajectories were given, namely step and varying frequency position control.

引用

页码：169 / 173

页数：5

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