Autonomous underwater manipulation with free floating base is still an open topic of research; dynamic manipulation tasks, executed maintaining relevant vehicle velocities, offer an additional challenge. The focus of this paper is the modelling and the control of an Intervention Autonomous Underwater Vehicle (I-AUV). An accurate model of the whole system has been developed, including vehicle-fluid interaction. A control strategy for the whole I-AUV system is proposed, comprising a suitable grasp planning strategy. The performances of the I-AUV control system have been analysed in details by means of simulation of a dynamic manipulation task.
Towards next generation Intervention Autonomous Underwater Vehicles (I-AUV): development of innovative mobile manipulation techniques
COSTANZI, RICCARDO;
2015-01-01
Abstract
Autonomous underwater manipulation with free floating base is still an open topic of research; dynamic manipulation tasks, executed maintaining relevant vehicle velocities, offer an additional challenge. The focus of this paper is the modelling and the control of an Intervention Autonomous Underwater Vehicle (I-AUV). An accurate model of the whole system has been developed, including vehicle-fluid interaction. A control strategy for the whole I-AUV system is proposed, comprising a suitable grasp planning strategy. The performances of the I-AUV control system have been analysed in details by means of simulation of a dynamic manipulation task.File | Dimensione | Formato | |
---|---|---|---|
Towards next generation Intervention Autonomous Underwater Vehicles (I-AUV) development of innovative mobile manipulation techniques.pdf
solo utenti autorizzati
Descrizione: Articolo principale
Tipologia:
Versione finale editoriale
Licenza:
NON PUBBLICO - Accesso privato/ristretto
Dimensione
674.25 kB
Formato
Adobe PDF
|
674.25 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.