Position/Force Control of an Underwater Mobile Manipulator

This paper proposes a new control method applied to an underwater vehicle equipped with a robot manipulator. This control method is based on force control to stabilize the platform when the manipulator works in free or constrained space. The torque produced by the arm on the platform is estimated wi...

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Bibliographic Details
Published in:Journal of robotic systems 2003-12, Vol.20 (12), p.707-722
Main Authors: Lapierre, Lionel, Fraisse, Philippe, Dauchez, Pierre
Format: Article
Language:English
Subjects:
Computer Science
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Summary:This paper proposes a new control method applied to an underwater vehicle equipped with a robot manipulator. This control method is based on force control to stabilize the platform when the manipulator works in free or constrained space. The torque produced by the arm on the platform is estimated with a force sensor installed between the base of the manipulator and the vehicle. This allows correcting the position errors of the platform using an external force control loop. This paper presents this control law and shows some simulation results. © 2003 Wiley Periodicals, Inc.
ISSN:0741-2223
1097-4563
DOI:10.1002/rob.10119