Whole body control of a dual arm underwater vehicle manipulator system

被引：30
|
作者：
Simetti, E. [1 ]
Casalino, G. [1 ]
机构：
[1] Univ Genoa, Interuniv Res Ctr Integrated Syst Marine Environm, Dept Comp Sci Bioengn Robot & Syst Engn DIBRIS, Via Opera Pia 13, I-16145 Genoa, Italy
来源：
ANNUAL REVIEWS IN CONTROL | 2015年 / 40卷
基金：
欧盟地平线“2020”;
关键词：
Dual arm underwater manipulation; Underwater vehicle manipulator system; Task priority control; Whole body control; Hierarchical control; Underwater floating manipulation; DESIGN;
D O I：
10.1016/j.arcontrol.2015.09.011
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a whole body control framework for the control of a dual arm underwater vehicle manipulator system developed in the context of the MARIS Italian research project, which deals with the control and coordination of underwater vehicles for manipulation and transportation problems. The proposed framework is the extension of the one used in the successful TRIDENT FP7 project that has been improved to be able to deal with multidimensional inequality control objectives. After the presentation of the mathematical background, the paper presents some simulation results showing the good performances of the proposed algorithm. (C) 2015 International Federation of Automatic Control. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：191 / 200
页数：10
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