NDLI: Dynamic workspace control method of underwater manipulator based on motion compensation of an ROV

Content Provider	IEEE Xplore Digital Library
Author	Hyungwon Shim Bong-Huan Jun Pan-Mook Lee
Copyright Year	2011
Description	Author affiliation: Ocean Engineering Research Department, Maritime & Ocean Engineering Research Institute, Korea Ocean Research & Development Institute, Sinseong-ro 104, Yuseong-gu, Daejeon, 305-343, Korea (Hyungwon Shim; Bong-Huan Jun; Pan-Mook Lee)
Abstract	This paper presents a dynamic workspace control method of underwater manipulator mounted on a floating ROV(Remotely Operated vehicle) in undersea. This method is developed for precise linear motion control of a manipulator's end-effector considering the motion of a floating ROV caused by sea wave. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation. For online manipulator control achievement, the position tracking technique based on extended Kalman filter(EKF) and the input velocity compensation technique for differential inverse kinematics solution are applied. In addition, for precise workspace control, the third-order differential inverse kinematics is utilized. In this paper, the proposed method is verified by both experimental data based test of ROV position tracking and simulations of the proposed control method. In these tests, the specification of the KORDI deep-sea ROV Hemire is utilized.
Starting Page	1
Ending Page	10
File Size	687777
Page Count	10
File Format	PDF
ISBN	9781457701658
e-ISBN	9781457701641
DOI	10.1109/UT.2011.5774164
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-04-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Estimation Manipulator dynamics Mathematical model Equations Vehicle dynamics Joints
Content Type	Text
Resource Type	Article

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