Agility for underwater floating manipulation: Task & subsystem priority based control strategy

The need for actual autonomy in underwater robotic systems is rapidly increasing. Many challenging issues derive from such a trend, one in all the requirement of coordinately controlling the motion of an underwater floating I-AUV endowing a robotic arm, to accomplish complex manipulation tasks. This...

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Bibliographic Details
Main Authors: Casalino, G., Zereik, E., Simetti, E., Torelli, S., Sperinde, A., Turetta, A.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Dynamic programming
Robot kinematics
Silicon
Vectors
Vehicles
Online Access:Request full text
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Summary:The need for actual autonomy in underwater robotic systems is rapidly increasing. Many challenging issues derive from such a trend, one in all the requirement of coordinately controlling the motion of an underwater floating I-AUV endowing a robotic arm, to accomplish complex manipulation tasks. This work is aimed to present a strategy based on the prioritization of tasks of equality and inequality type, once combined with Dynamic Programming techniques, for coordinately controlling the motion of such I-AUV. A general algorithmic framework is developed and simulative results supporting its resulting effectiveness are presented.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2012.6386127