Incorporation of the articulated-body equations into a model-based sliding-mode controller for the reduction of dynamic coupling effect in underwater-manipulator systems
A control scheme is presented for reducing dynamic coupling between an underwater robotic vehicle (URV) and a manipulator. During task execution the torques commanded at the manipulator joints lead to reactions at the junction point of the manipulator and vehicle. These reactions disturb the vehicle...
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| Language: | English en |
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2009
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| Online Access: | http://hdl.handle.net/1828/1988 |