Abstract

This paper presents a modeling of undersea robot manipulators and a control scheme appropriate for manipulating the manipulators working under the unstrcuctured sea water environment. Under the sea, the added mass and added moment of inertia, buoyancy, and drag forces should be considered in modeling the dynamics of the robot manipulators. Due to the complexity of them, the desired dynamics of manipulators can not be accomplished by the conventional control schemes. Hence, a sliding mode control is applied to control the modeling error.

Keywords

• Added mass;
• Added moment of intertia;
• Sliding mode control;
• Unstructured

• 부가질량;
• 부가관성모멘트;
• 슬라이딩 모드 제어;