Adaptive Kinematic Control of Underwater Cable-Driven Parallel Robot
Katutoshi Kodama,
Akihiro Morinaga,
Ikuo Yamamoto
Abstract:We previously proposed on the underwater cable-driven parallel robot (UCDPR), a system comprising multiple surface robots, and designed a modeling and trajectory tracking control method for it. However, the conventional trajectory tracking control of the UCDPR using the kinematic controller faced several issues. These included challenges in control gain tuning due to model uncertainty and a decline in trajectory tracking performance caused by changes in system characteristics due to environmental factors like … Show more
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