A Method to Synthesize High-Precision Motion Control Systems for Underwater Manipulator
Journal: International Journal of Simulation Modelling
Year: 2021

The development of a method to synthesize combined systems that provide high-precision motion control of multi-joint manipulators mounted on underwater vehicles is presented. This method consists of the following steps. (1) A preliminary analytical calculation of the external torques that occur in all the degrees of mobility of moving underwater manipulators is performed using a recurrent algorithm for solving the inverse dynamics problem. (2) Additional diagnostic observers are then synthesized