naa a22 4500 510823181 CHVBK 20180411083543.0 cr unu---uuuuu 180411e20130301xx s 000 0 eng 10.1007/s12541-013-0054-6 doi (NATIONALLICENCE)springer-10.1007/s12541-013-0054-6 Dynamic workspace control method for underwater manipulator of floating ROV [Elektronische Daten] [Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee, Banghyun Kim] This paper presents a dynamic workspace control method of underwater manipulator mounted on a floating ROV (Remotely Operated vehicle) in undersea. This method is developed for precise linear motion control of a manipulator's end-effector considering the motion of a floating ROV caused by sea wave. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation. For online manipulator control achievement, the position tracking technique based on extended Kalman filter (EKF) and the input velocity compensation technique for differential inverse kinematics solution are applied. In addition, for precise workspace control, the third-order differential inverse kinematics is utilized. In this paper, the proposed method is verified by both experimental data based test of ROV position tracking and simulations of the proposed control method. In these tests, the specification of the KIOST deep-sea ROV Hemire is utilized. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Dynamic workspace control nationallicence Underwater manipulator nationallicence Floating ROV nationallicence Motion compensation nationallicence ROV position tracking nationallicence P : position vector with 6 dimension nationallicence V : velocity vector with 6 dimension nationallicence R : (3 × 3) rotation matrix nationallicence J : Jacobian matrix nationallicence Shim Hyungwon Ocean System Engineering Research Division, Korea Institute of Ocean Science & Technology, 1312-32, Yuseong-daero, Yuseong-gu, 305-343, Daejeon, Republic of Korea aut Jun Bong-Huan Ocean System Engineering Research Division, Korea Institute of Ocean Science & Technology, 1312-32, Yuseong-daero, Yuseong-gu, 305-343, Daejeon, Republic of Korea aut Lee Pan-Mook Ocean System Engineering Research Division, Korea Institute of Ocean Science & Technology, 1312-32, Yuseong-daero, Yuseong-gu, 305-343, Daejeon, Republic of Korea aut Kim Banghyun Ocean System Engineering Research Division, Korea Institute of Ocean Science & Technology, 1312-32, Yuseong-daero, Yuseong-gu, 305-343, Daejeon, Republic of Korea aut International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/3(2013-03-01), 387-396 2234-7593 14:3<387 2013 14 12541 https://doi.org/10.1007/s12541-013-0054-6 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0054-6 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Shim Hyungwon Ocean System Engineering Research Division, Korea Institute of Ocean Science & Technology, 1312-32, Yuseong-daero, Yuseong-gu, 305-343, Daejeon, Republic of Korea aut NATIONALLICENCE 700 1- Jun Bong-Huan Ocean System Engineering Research Division, Korea Institute of Ocean Science & Technology, 1312-32, Yuseong-daero, Yuseong-gu, 305-343, Daejeon, Republic of Korea aut NATIONALLICENCE 700 1- Lee Pan-Mook Ocean System Engineering Research Division, Korea Institute of Ocean Science & Technology, 1312-32, Yuseong-daero, Yuseong-gu, 305-343, Daejeon, Republic of Korea aut NATIONALLICENCE 700 1- Kim Banghyun Ocean System Engineering Research Division, Korea Institute of Ocean Science & Technology, 1312-32, Yuseong-daero, Yuseong-gu, 305-343, Daejeon, Republic of Korea aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/3(2013-03-01), 387-396 2234-7593 14:3<387 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer