FN Archimer Export Format
PT C
TI Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm
BT 
AF LEBORNE, Francois
   CREUZE, Vincent
   CHEMORI, Ahmed
   BRIGNONE, Lorenzo
AS 1:1,2;2:1;3:1;4:2;
FF 1:PDG-DFO-SM-PRAO;2:;3:;4:PDG-DFO-SM-PRAO;
C1 Univ Montpellier, CNRS, LIRMM, 161 Rue Ada, F-34095 Montpellier 5, France.
   Ifremer, Ctr Mediterranee, F-83507 La Seyne Sur Mer, France.
C2 UNIV MONTPELLIER, FRANCE
   IFREMER, FRANCE
SI TOULON
SE PDG-DFO-SM-PRAO
IN WOS Ifremer jusqu'en 2018
   copubli-france
   copubli-univ-france
UR https://archimer.ifremer.fr/doc/00462/57375/59607.pdf
LA English
DT Proceedings paper
AB This paper deals with the dynamic modeling and identification of an electrically driven underwater robot manipulator. The proposed study includes the dynamic modeling of the actuators of the arm as well as the identification of the parameters of the model. The proposed method deals with the specific case of heterogeneously actuated arms, namely arms with actuators behaving differently for each joint, being considered at the kinematic level. Indeed, we show how to estimate the arms parameters when some of their revolute joints are directly actuated by geared motors, while the others are actuated by linear actuators. A minimum set of identifiable parameters is determined, and adequate excitation trajectories are generated and used in the identification procedure. Real-time experimental validation on the manipulator arms of Ifremer's HROV (Hybrid Remotely Operated Vehicle) Ariane underwater vehicle demonstrates that the proposed method improves the estimation of the dynamic model. 
PY 2018
CT 2018 Ieee International Conference On Robotics And Automation (icra) (1050-4729) (Ieee Computer Soc), 2018 , P. 4955-4960
DI 10.1109/ICRA.2018.8460963
ID 57375
ER

EF