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Position/force operational space control for underwater manipulation

Barbalata, C; Dunnigan, MW; Petillot, Y

Barbalata, C (reprint author), Univ Michigan, Naval Architecture & Marine Engn, Ann Arbor, MI 48109 USA.; Barbalata, C (reprint author), Heriot Watt Univ, Sch Engn & Phys Sci, Edinburgh, Midlothian, Scotland.

ROBOTICS AND AUTONOMOUS SYSTEMS, 2018; 100 (): 150

Abstract

An underwater manipulator is a complex system, highly non-linear and subject to disturbances caused by underwater effects. To obtain a reliable system......

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