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A multi-layered controller approach for high precision end-effector control of hydraulic underwater manipulator systems
| Content Provider | Semantic Scholar |
|---|---|
| Author | Hildebrandt, Marc Kerdels, Jochen Albiez, Jan C. Kirchner, Frank |
| Copyright Year | 2009 |
| Abstract | This paper presents a multi layered control architecture for hydraulic deep-sea manipulators. The proposed architecture is implemented on a Schilling Robotics Orion7P manipulator as example for a widely used deep-sea manipulator. In a number of experiments the improved precision of the new controller is shown. As application example for this improved precision the automated plugging of a deep-sea connector was evaluated and implemented. |
| Starting Page | 1 |
| Ending Page | 5 |
| Page Count | 5 |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.fernuni-hagen.de/mci/download/pub/c2009_hiletal_oceans.pdf |
| Journal | OCEANS 2009 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
