@inproceedings{0ce72241fd5d42ef88f14dbf1f335342,
title = "A Compliant-Rigid Underwater Manipulator for Enhanced Safety and Precision Performance",
abstract = "This paper presents an innovative design of a hybrid compliant-rigid underwater manipulator that is capable of performing intervention operations underwater with high safety and precision by instantly shifting it's joint-compliance. To analyze the responses of the said system, a mathematical model of the system is developed, which is used to simulate the system's responses for different loading conditions. A PD control law is developed to maintain the position of the link at a desired value and to suppress its vibrations under the influence of hydrodynamic forces and environmental disturbances. Simulations are performed to analyze the safety and precision performance of the proposed manipulator system for compliant and rigid joint configurations.",
keywords = "Compliant manipulator, fluid-structure interaction, hybrid systems, underwater robotics",
author = "Hamed Toubar and {Hameed Shah}, Umer and Irfan Hussain",
note = "Funding Information: This paper was supported in part by Khalifa University of Science and Technology under Award Nos. RC1-2018-KUCARS and FSU-2021-019 and in part by Ajman University Internal Research Grant No. 2021-IRG-ENIT-18. The research findings presented in this paper are solely the authors{\textquoteright} responsibility. Publisher Copyright: {\textcopyright} 2022 ACA.; 13th Asian Control Conference, ASCC 2022 ; Conference date: 04-05-2022 Through 07-05-2022",
year = "2022",
doi = "10.23919/ASCC56756.2022.9828337",
language = "British English",
series = "ASCC 2022 - 2022 13th Asian Control Conference, Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1505--1510",
booktitle = "ASCC 2022 - 2022 13th Asian Control Conference, Proceedings",
address = "United States",
}