Experiments of position control for 3-link dual-arm underwater robot

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Other Title
  • 3リンク双腕水中ロボットの位置制御実験
  • - Comparison of resolved acceleration control method for UVMS and computed torque method -
  • -UVMS用分解加速度制御法と計算トルク法の比較検討-

Description

<p>We have proposed a Resolved Acceleration Control (RAC) method for Underwater VehicleManipulator Systems which is a position control method. In this paper, we report experimental results of performance comparison between computed torque method, which is a control method for joint space and the RAC method.</p>

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