Sammendrag
This paper considers the kinematic control approach
for controlling an underwater vehicle-manipulator system.
Three different kinematic control schemes have been
applied, and the performance of each scheme is compared.
The kinematic control schemes provide velocity references,
while the control system aims to keep a fixed position for the
manipulator’s end-effector, and at the same time compensate for
slowly varying motions of the underwater vehicle. Experimental
results show that the proposed full modified kinematic control
scheme has better performance than the decoupled kinematic
control scheme, while it nicely outperforms the full kinematic
control scheme. All the control schemes are good alternatives
for controlling an underwater vehicle-manipulator system using
kinematic control.
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