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Keywords: underwater manipulator
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Proceedings Papers

Paper presented at the The 31st International Ocean and Polar Engineering Conference, June 20–25, 2021
Paper Number: ISOPE-I-21-1139
... the unknown disturbance. To further suppress the residual vibration; an optimal control scheme is proposed. The dynamic modelling and controlling of underwater manipulators are developed in ADAMS and SIMULINK. The simulation results show that the output position is converged to the desired trajectory quickly...
Proceedings Papers

Paper presented at the The 28th International Ocean and Polar Engineering Conference, June 10–15, 2018
Paper Number: ISOPE-I-18-287
... Rigid-Flexible Coupling Model and Control of Underwater Manipulator Daomin Huang1, Guoyuan Tang1, Guohua Xu1, Zhi Liu2 1.School of Naval Architecture & Ocean Engineering, Huazhong University of Science and Technology , Wuhan, HuBei ,China. 2. The Second Ship Design and Research Institute of Wuhan...
Proceedings Papers

Paper presented at the The Twentieth International Offshore and Polar Engineering Conference, June 20–25, 2010
Paper Number: ISOPE-I-10-279
... of driving types, there are two kinds of underwater manipulators. One is hydraulic, these manipulators feature large power, high ratio of lift force to weigh and relatively easy to implement hydraulic pressure compensation. The Work System Package (WSP) of Naval Ocean Systems Center is a famous and typical...
Proceedings Papers

Paper presented at the The Twentieth International Offshore and Polar Engineering Conference, June 20–25, 2010
Paper Number: ISOPE-I-10-040
... Development of a New Underwater Manipulator Actuated by BLDC Motor Hyeung-Sik Choi and Sungyul Hong Division of Mechanical and Information Eng, Korea Maritime University, Busan, Korea Hanil Park Division of Naval Architecture and Ocean Systems Engineering, Korea Maritime University, Busan, Korea...
Proceedings Papers

Paper presented at the The Twelfth International Offshore and Polar Engineering Conference, May 26–31, 2002
Paper Number: ISOPE-I-02-177
... risks because currents, waves, water pressure and fluid resistance make the operations dangerous, hard and inefficient. For these reasons, many underwater robot vehicles have been studied and developed (e.g. Fossen (1994), Yoerger (1985), George Lee (2001)). Furthermore, underwater manipulators mounted...
Proceedings Papers

Paper presented at the The Tenth International Offshore and Polar Engineering Conference, May 28–June 2, 2000
Paper Number: ISOPE-I-00-156
... ABSTRACT An underwater manipulator mounted on a semi-autonomous underwater vehicle (SAUV) is under developing in KRISO (Korea Research Institute of Ships and Ocean Engineering) for light work mission. This paper describes the physical configuration and controller of the underwater vehicle...
Proceedings Papers

Paper presented at the The Fifth International Offshore and Polar Engineering Conference, June 11–16, 1995
Paper Number: ISOPE-I-95-138
... Abstract: This paper treats the control system of the underwater manipulator considering its working environment. We construct the system of the underwater manipulator using Learning Feed-Forward Controller, which is adaptable to the changes of the dynamics of the manipulator. The system...

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