{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,3]],"date-time":"2025-11-03T13:22:18Z","timestamp":1762176138133},"reference-count":10,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5764,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1991,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>An underwater manipulator is described that can exhibit a wide range of compliance through a combination of mechanical design and software control and its performance characterized. The manipulator has been used in conjunction with the JASON Remotely Operated Vehicle at full\u2010ocean depth. The major goal of the design was to produce a manipulator that can actively control the interaction forces with the work task in the hostile deep\u2010ocean environment. The manipulator's performance has been characterized in the lab and its overall operational utility has been confirmed during tests to depths of approximately 4000 meters, including an archaeological excavation at 700 meters depth in the Mediterranean. The manipulator uses high performance brushless DC servomotors driving the joints though low\u2010friction, zero\u2010backlash reductions of moderate ratio consisting of cables and pulleys. Each joint is highly backdriveable and has a large range of rotation. This approach permits a variety of force control schemes such as impedance control to be implemented with no sensors other than the displacement sensors integrated with the brushless motor. It also permits high\u2010quality torque servomechanisms to be directly implemented. This article outlines the design and illustrates the performance of a single joint in terms of friction, stiffness, and in implementing variable compliance and as a closed\u2010loop torque servo.<\/jats:p>","DOI":"10.1002\/rob.4620080306","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T11:00:29Z","timestamp":1183719629000},"page":"371-392","source":"Crossref","is-referenced-by-count":27,"title":["Design and performance evaluation of an actively compliant underwater manipulator for full\u2010ocean depth"],"prefix":"10.1002","volume":"8","author":[{"given":"Dana R.","family":"Yoerger","sequence":"first","affiliation":[]},{"given":"Hagen","family":"Schempf","sequence":"additional","affiliation":[]},{"given":"David M.","family":"Dipietro","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"D. M.DiPietro \u201cDevelopment of an Actively Compliant Underwater Manipulator \u201d SM Thesis WHOI\u2010MIT Joint Program in Oceanography and Oceanographic Engineering December1988.","DOI":"10.1575\/1912\/4957"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"J. K.Salisbury \u201cActive stiffness control of a manipulator in Cartesian coordinates \u201d in 19th IEEE Conf. on Decision and Control Vol 1 Dec.1980.","DOI":"10.1109\/CDC.1980.272026"},{"key":"e_1_2_1_4_2","article-title":"Impedance control: An approach to manipulation: Parts I, II, III.","volume":"107","author":"Hogan N.","year":"1985","journal-title":"J. Dyn Sys, Meas, and Control"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"H.Schempf \u201cComparative Design Modeling and Control Analysis of Robotic Transmission \u201d PhD Thesis WHOI\u2010MIT Joint Program in Oceanography and Oceanographic Engineering August1990.","DOI":"10.1575\/1912\/5431"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"W. T.TownsendandJ. K.Salisbury \u201cThe efficiency limit of belt and cable drives \u201d ASME J. Mechanisms Transmissions and Automation in Design (1987).","DOI":"10.1115\/1.3267462"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"E.Aust E. K. H.Bohm H.Domann andG. F.Schultheiss \u201cSubsea work with robots in hyperbaric environments \u201d in Proc. 21st Annual Offshore Technology Conf. Houston OTC 6089 May1989.","DOI":"10.4043\/6089-MS"},{"issue":"2","key":"e_1_2_1_8_2","article-title":"A new design combining step and servo motor performances","volume":"1","author":"Seitz W.","year":"1990","journal-title":"Electronic MOTORtechnics"},{"key":"e_1_2_1_9_2","volume-title":"Instrument Bus: An Electronic System Architecture for Oceanographic Instrumentation","author":"Mellinger E. C.","year":"1986"},{"key":"e_1_2_1_10_2","unstructured":"J. K.Salisbury W.Townsend B.Eberman andD.DiPietro \u201cPreliminary design of a whole\u2010arm manipulation system (WAMS) \u201d in IEEE Conf on Robotics and Automation April 1988."},{"key":"e_1_2_1_11_2","unstructured":"B.Armstrong \u201cDynamics for Robot Control: Friction Modeling and Ensuring excitation During Parameter Identification \u201d PhD Thesis Dept. of Electrical Engineering Stanford Univ. 1988."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620080306","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620080306","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,23]],"date-time":"2023-10-23T01:55:28Z","timestamp":1698026128000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620080306"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,6]]},"references-count":10,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1991,6]]}},"alternative-id":["10.1002\/rob.4620080306"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620080306","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1991,6]]}}}