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Resolved Acceleration Control (RAC) of Dual-Arm 3-Link Underwater Robot : Comparison of Control Performance between RAC Method and Computed Torque Method

机译:双臂三连杆水下机器人的分辨加速控制(RAC):RAC方法和计算转矩方法之间的控制性能比较

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We have proposed a resolved acceleration control method for underwater vehicle-manipulator systems and the effectiveness of the control method have been shown by experiments. In this paper, we compare our proposed method with a computed torque method. Simulation results show that the control performance of our proposed method is better than the conventional computed torque method.
机译:我们已经提出了一种用于水下车辆操纵器系统的解决的加速度控制方法,并且该控制方法的有效性已经通过实验证明了。在本文中,我们将我们提出的方法与计算转矩方法进行了比较。仿真结果表明,该方法的控制性能优于传统的计算转矩方法。

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