Title :
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
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;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479230
