A Multi-Layered Controller Approach for High Precision End-Effector Control of Hydraulic Underwater Manipulator Systems

Marc Hildebrandt, Jochen Kerdels, Jan Albiez

In: OCEANS 09 MTS / IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges. OCEANS MTS/IEEE Conference (OCEANS-09) Marine Technology for our Future: Global and Local Challenges October 26-29 Biloxi United States ISBN 978-1-4244-4960-6 10/2009.


This paper presents a multi layered control architecture for hydraulic deep-sea manipulators. The proposed architecture is implemented on a Schilling Robotics Orion7P manipulator as example for a widely used deep-sea manipulator. In a number of experiments the improved precision of the new controller is shown. As application example for this improved precision the automated plugging of a deep-sea connector was evaluated and implemented.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence