Quaternion-based coordinated control of a subsea mobile manipulator with only position measurements

Author

Lizarralde, Fernando ; Wen, John T. ; Hsu, Liu

Author_Institution

Dept. of Electr. Eng., Federal Univ. of Rio de Janeiro, Brazil

Volume

4

fYear

1995

fDate

13-15 Dec 1995

Firstpage

3996

Abstract

A control scheme for the coordinated control of a subsea vehicle/manipulator system is presented. The unit quaternion representation is used in a singularity free representation of the attitude. The control scheme is formulated in a 12 DOF task space and only position measurements are required. The performance is evaluated by simulation with a realistic model of a commercial underwater vehicle, which includes the full dynamic interaction between vehicle and manipulator

Keywords

asymptotic stability; closed loop systems; manipulator dynamics; manipulator kinematics; marine systems; mobile robots; position measurement; robot dynamics; robot kinematics; two-term control; 12 DOF task space; commercial underwater vehicle; position measurements; quaternion-based coordinated control; singularity free representation; subsea mobile manipulator; subsea vehicle/manipulator system; Control systems; Coordinate measuring machines; Manipulator dynamics; Position measurement; Quaternions; Robotics and automation; Sea measurements; Underwater vehicles; Vehicle dynamics; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

0-7803-2685-7

Type

conf

DOI

10.1109/CDC.1995.479230

Filename

479230