Digital Resolved Acceleration Control of Underwater Robot with multiple manipulators

Abstract

Since Underwater Vehicle-Manipulator Systems (UVMS) are expected to make important roles in ocean exploration, many studies about control of single arm UVMSs have been reported. We have also been proposed digital Resolved Acceleration Control (RAC) methods for a single arm UVMS. In this paper, we propose a discrete time RAC method for multiple arms UVMS. Simulation results show the effectiveness of the proposed control method.