Detailed Information

Cited 0 time in webofscience Cited 0 time in scopus
Metadata Downloads

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

Full metadata record
DC Field Value Language
dc.contributor.authorShim, H.-
dc.contributor.authorJun, B.-H.-
dc.contributor.authorLee, P.-M.-
dc.date.accessioned2023-12-22T09:01:20Z-
dc.date.available2023-12-22T09:01:20Z-
dc.date.issued2011-
dc.identifier.issn0000-0000-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8876-
dc.description.abstractThis 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. ? 2011 IEEE.-
dc.language영어-
dc.language.isoENG-
dc.titleDynamic workspace control method of underwater manipulator based on motion compensation of an ROV-
dc.typeArticle-
dc.identifier.doi10.1109/UT.2011.5774164-
dc.identifier.scopusid2-s2.0-79959301038-
dc.identifier.bibliographicCitation2011 IEEE Symposium on Underwater Technology, UT'11 and Workshop on Scientific Use of Submarine Cables and Related Technologies, SSC'11-
dc.citation.title2011 IEEE Symposium on Underwater Technology, UT'11 and Workshop on Scientific Use of Submarine Cables and Related Technologies, SSC'11-
dc.type.docTypeConference Paper-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscopus-
dc.subject.keywordPlusControl methods-
dc.subject.keywordPlusDynamic workspace-
dc.subject.keywordPlusExperimental data-
dc.subject.keywordPlusFirst order differential equation-
dc.subject.keywordPlusInput velocity-
dc.subject.keywordPlusInverse kinematics solutions-
dc.subject.keywordPlusLinear motion control-
dc.subject.keywordPlusManipulator control-
dc.subject.keywordPlusSea waves-
dc.subject.keywordPlusThird-order-
dc.subject.keywordPlusUnderwater manipulator-
dc.subject.keywordPlusCables-
dc.subject.keywordPlusControl theory-
dc.subject.keywordPlusDifferential equations-
dc.subject.keywordPlusInverse kinematics-
dc.subject.keywordPlusManipulators-
dc.subject.keywordPlusMotion compensation-
dc.subject.keywordPlusMotion control-
dc.subject.keywordPlusNonlinear equations-
dc.subject.keywordPlusSubmarine cables-
dc.subject.keywordPlusSubmarines-
dc.subject.keywordPlusTechnology-
dc.subject.keywordPlusTelecommunication equipment-
dc.subject.keywordPlusTelegraph-
dc.subject.keywordPlusTracking (position)-
dc.subject.keywordPlusRemotely operated vehicles-
Files in This Item
There are no files associated with this item.
Appears in
Collections
친환경해양개발연구본부 > 친환경연료추진연구센터 > Journal Articles

qrcode

Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.

Related Researcher

Researcher Jun, Bong Huan photo

Jun, Bong Huan
해양공공디지털연구본부
Read more

Altmetrics

Total Views & Downloads

BROWSE