On Modeling and Adaptive Control of Underwater Robots

  • A. K. Ramadorai
  • T. J. Tarn
Chapter
Part of the Progress in Systems and Control Theory book series (PSCT, volume 12)

Abstract

In this paper issues relating to modeling of underwater vehicles and manipulators are discussed. The dynamic modeling procedure enables inclusion of effects of buoyancy and viscous friction on the robot. A regressor is identified and it relates robot torques to a vector of unknown dynamic parameters of the arm and properties of the underwater environment like density and viscocity. An adaptive control scheme for task level servo to achieve free trajectory tracking is discussed.

Keywords

Adaptive Control Robot Manipulator Joint Torque Underwater Vehicle Task Space 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media New York 1992

Authors and Affiliations

  • A. K. Ramadorai
    • 1
  • T. J. Tarn
    • 1
  1. 1.Washington UniversitySt. LouisUSA

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