ON THE FORCE/POSTURE CONTROL OF A CONSTRAINED SUBMARINE ROBOT

Ernesto Olguín-Díaz; Vicente Parra-Vega

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Paper

ON THE FORCE/POSTURE CONTROL OF A CONSTRAINED SUBMARINE ROBOT

Topics: Mobile Robots and Autonomous Systems; Robot Design, Development and Control; Space and Underwater Robotics

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 19-28, 2007 , Angers, France

Authors: Ernesto Olguín-Díaz and Vicente Parra-Vega

Affiliation: Robotics and Advanced Manufacturing, CINVESTAV-IPN, Mexico

Keyword(s): Underwater vehicles, Force/position control, Sliding Modes Control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Space and Underwater Robotics

Abstract: An advanced, yet simple, controller for submarine robots is proposed to achieve simultaneously tracking of time-varying contact force and posture, without any knowledge of its dynamic parameters. Structural properties of the submarine robot dynamic are used to design passivity-based controllers. A representative simulation study provides additional insight into the closed-loop dynamic properties for regulation and tracking cases. A succinct discussion about inherent properties of the open-loop and closed-loop systems finishes this work.

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Paper citation in several formats:

Olguín-Díaz, E. and Parra-Vega, V. (2007). ON THE FORCE/POSTURE CONTROL OF A CONSTRAINED SUBMARINE ROBOT. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 19-28. DOI: 10.5220/0001631800190028

@conference{icinco07,
author={Ernesto Olguín{-}Díaz. and Vicente Parra{-}Vega.},
title={ON THE FORCE/POSTURE CONTROL OF A CONSTRAINED SUBMARINE ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2007},
pages={19-28},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001631800190028},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - ON THE FORCE/POSTURE CONTROL OF A CONSTRAINED SUBMARINE ROBOT
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Olguín-Díaz, E.
AU - Parra-Vega, V.
PY - 2007
SP - 19
EP - 28
DO - 10.5220/0001631800190028
PB - SciTePress