Efficient Control of an AUV-Manipulator System: An Application for the Exploration of Europa

  title={Efficient Control of an AUV-Manipulator System: An Application for the Exploration of Europa},
  author={Brian Lynch and Alex Ellery},
  journal={IEEE Journal of Oceanic Engineering},
Autonomous control of a robotic manipulator mounted on a submersible autonomous underwater vehicle (AUV) is simulated with various strategies employing combinations of feedback and feedforward control. Feedforward compensation of the manipulator motion is accomplished using a model of the system kinematics and dynamics. Hydrodynamic effects including drag, buoyancy, and added mass, as well as the reaction of the vehicle, are all compensated. Effective manipulator position control is… CONTINUE READING
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