Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects

Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects

This article considers an approach to synthesizing a multilevel system to control movements of a multilink manipulator (MM) mounted on an unmanned underwater vehicle (UUV) for performing autonomous manipulative operations in the mode of dynamic positioning over various objects on the seafloor. The s...

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Bibliographic Details
Main Authors: Alexander Konoplin, Alexander Yurmanov, Nikita Krasavin, Pavel Piatavin
Format: Article
Language:English
Published: MDPI AG 2022-02-01
Series:Applied Sciences
Subjects:
unmanned underwater vehicle
multilink manipulator
control system
machine vision system
object identification
trajectory building
Online Access:https://www.mdpi.com/2076-3417/12/3/1666

Internet

https://www.mdpi.com/2076-3417/12/3/1666

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