Dexterous underwater object manipulation via multi-robot cooperating systems

Author

Casalino, G. ; Angeletti, D. ; Bozzo, T. ; Marani, G.

Author_Institution

DIST, Genoa Univ., Italy

Volume

4

fYear

2001

fDate

2001

Firstpage

3220

Abstract

The complete design and realization of an underwater manipulation system composed of two cooperating arms has been one of the main goals of the AMADEUS Phase II project, within the framework of the MAST III program on Marine Technology development. In this paper, the directions and methodologies followed within the design of the complete functional and algorithmic control architecture for the workcell is presented in some details, by mainly focusing on its various aspects of modularity, scalability and composability, which presently allow the execution of many different, cooperative, object manipulation tasks.

Keywords

cooperative systems; dexterous manipulators; motion control; project engineering; telerobotics; underwater vehicles; AMADEUS Phase II project; composability; cooperating systems; dexterous manipulators; modularity; motion control; multiple-robot systems; scalability; teleoperation; underwater manipulation system; Algorithm design and analysis; Arm; Computer architecture; Error correction; Kinematics; Level control; Marine technology; Robots; Scalability; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933114

Filename

933114