Takashi Yatoh

Digital RAC for underwater vehicle-manipulator systems considering singular configuration

We have proposed continuous-time and discrete-time resolved acceleration control methods for underwater vehicle-manipulator systems and the effectiveness of the control methods has been shown by experiments. In this article, we propose a digital control method considering the singular configuration of manipulator. Experimental results show the effectiveness of the proposed method.

Digital type disturbance compensation control of a floating underwater robot with 2 link manipulator

We have proposed continuous and discrete time resolved acceleration control methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been shown by experiments. In this paper, we propose a digital type disturbance compensation control method based on the RAC method considering singular configuration of manipulator. Experimental results show the effectiveness of the proposed method.

Digital RAC with a disturbance observer for underwater vehicle-manipulator systems

Most control methods of underwater vehiclemanipulator systems (UVMS) are based on the computed torque method that is used for underwater robotic vehicles. We have proposed a resolved acceleration control (RAC) method for UVMS. In this article, we propose a disturbance compensation control method for both vehicle and manipulator based on the RAC method. Experimental results using an underwater robot with a vertical planar 2-link manipulator show that the proposed control method has good control performance.

Digital Type Disturbance Compensation Control of Underwater Vehicle-Manipulator Systems

We have proposed continuous and discrete time Resolved Acceleration Control (RAC) methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been demonstrated by experiments. In this paper, we propose a digital type disturbance compensation control method based on the RAC method. Experimental results show the effectiveness of the proposed method.

Resolved Acceleration Control of Underwater Vehicle-Manipulator Systems using Momentum Equation

We have proposed continuous and discrete time resolved acceleration control methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been shown by experiments. In this paper, we compare a computed torque method and our proposed continuous-time control method. Simulation and experimental results show that the control performance of our proposed method is better than the conventional method.