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Impedance control based on error feedback for the manipulator of an underwater vehicle-manipulator system
This paper deals with the design of a motion and force control scheme for underwater vehicles, each of which has a manipulator. For a subsea...
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Motion and force control with a linear force error filter for the manipulator of an underwater vehicle-manipulator system
This paper deals with a motion and force control scheme for underwater robots, each of which is equipped with a manipulator. Several motion and force...
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Disturbance Rejection Fixed Point Control of DELTA Parallel Manipulator Mounted on Autonomous Underwater Vehicle
This paper studied the fixed point control task of a DELTA parallel manipulator mounted on an autonomous underwater vehicle. Such a system features...
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Prediction model-based learning adaptive control for underwater gras** of a soft manipulator
Soft robotic manipulators have promising features for performing non-destructive underwater tasks. Nevertheless, soft robotic systems are sensitive...
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Motion Planning of Docking Process for Underwater Vehicle Based on Manipulator Aided Gras**
Underwater vehicle-manipulator system (UVMS) is a useful tool for underwater inspection, maintenance, and repair task. And underwater docking systems...
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A Voltage Control Method of 6-DoF Underwater Robotic System with an Observer-Based Robust Adaptive Fuzzy Estimator
In this paper, a control method is presented for the six degrees of freedom (6-DoF) underwater systems. First, the proposed thruster voltage map**...
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Underwater autonomous gras** robot based on multi-stage Cascade DetNet
At present, underwater exploration and salvage, underwater archaeology, and other underwater operations still mainly rely on professional underwater...
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Research on the Hydrodynamic Calculation of Variable Structure Underwater Vehicle Based on CFD
In order to speed up the construction of ocean intelligence, improving the intelligent operation level of Underwater Vehicles is one of the current...
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A Survey on Fault Tolerant Control of Unmanned Underwater Vehicles
Unmanned underwater vehicles have expanded their market size owing to growth in demand for underwater exploration, underwater defense vehicles, and...
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Model-based motion control for underwater vehicle-manipulator systems with one of the three types of servo subsystems
This paper deals with a motion control scheme for underwater robots equipped with manipulators. In general, for each robot, its manipulator is...
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A novel robotic visual perception framework for underwater operation
Underwater robotic operation usually requires visual perception (e.g., object detection and tracking), but underwater scenes have poor visual quality...
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A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot
To tackle the problem of aquatic environment pollution, a vision-based autonomous underwater garbage cleaning robot has been developed in our...
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A review of the literature on fuzzy-logic approaches for collision-free path planning of manipulator robots
In recent years, a large number of manipulator robots have been deployed to replace or assist humans in many repetitive and dangerous tasks. Yet,...
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Research on Sliding Mode Control of Underwater Vehicle-Manipulator System Based on an Exponential Approach Law
To improve the performance of underwater vehicle-manipulator system (UVMS), which is subject to system uncertainties and time-varying external...
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A review of robotic charging for electric vehicles
This paper reviews the technical aspects of robotic charging for Electric Vehicles (EVs), aiming to identify research trends, methods, and...
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Dynamic Analysis of Underwater Vehicle-Manipulator Systems
Dynamic model of an underwater robot is nonlinear in hydrodynamic parameters such as added mass, dam**, etc. The hydrodynamic coefficients vary...
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Finite-time tracking control of heterogeneous multi-AUV systems with partial measurements and intermittent communication
The development of a distributed trajectory-tracking control strategy that is independent of velocity measurements is critical to achieving...
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Numerical Investigation on Turbulence Models and the Hydrodynamics of a UVMS
Underwater vehicle-manipulator systems (UVMS) have been widely used in many underwater tasks. In this paper, a numerical investigation of the...
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Adaptive neural network control of a 2-DOF helicopter system considering input constraints and global prescribed performance
In this study, an adaptive neural network (NN) control is proposed for nonlinear two-degree-of-freedom (2-DOF) helicopter systems considering the...