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ICRA
2000
IEEE

Design of a Teleoperation Controller for an Underwater Manipulator

9 years 8 months ago
Design of a Teleoperation Controller for an Underwater Manipulator
A robust teleoperation controller design methodfor an underwater manipulator is proposed considering the master and the underwater slave separately. To achieve transparency and stability for a teleoperation of an underwater manipulator in unknown environments with time-varying uncertaintiessuch as added mass, buoyancy, hydraulic drag and friction effect, an adaptive sliding mode control scheme is proposed for robust position tracking control of slave manipulator To guarantee a force transparency in the master side, disturbance observer is used as a local controllerfor compensating a friction and coupled nonlinear dynamic effects of the master manipulator Numerical simulations are performed to demonstrate the transparency and robustness of theproposed controller
Dong-Soo Kwon, Jee-Hwan Ryu, Pan-Mook Lee, Seok-Wo
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Dong-Soo Kwon, Jee-Hwan Ryu, Pan-Mook Lee, Seok-Won Hong
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