Title :
On cooperation between autonomous underwater floating manipulation systems
Author :
Manerikar, Ninad ; Casalino, Giuseppe ; Simetti, Enrico ; Torelli, Sandro ; Sperinde, Alessandro
Abstract :
This paper describes an unifying control framework which has been proposed and successfully employed within the recently concluded TRIDENT EU FP7 project. It further describes the extension of this proposed framework to dual arm free floating control case (single underwater vehicle with two 7 d.o.f redundant manipulators), and even the more challenging cooperative control of two I-AUVs for the transportation of large objects which is part of the currently ongoing Italian national project MARIS. The paper presents simulation results as well as actual experimental trials showing the effectiveness of this proposed control framework.
Keywords :
autonomous underwater vehicles; cooperative systems; mobile robots; redundant manipulators; 7 d.o.f redundant manipulators; I-AUV; Italian national project; MARIS; TRIDENT EU FP7 project; autonomous underwater floating manipulation systems; cooperative control; dual arm free floating control case; intervention autonomous underwater vehicles; large object transportation; unifying control framework; Cameras; Jacobian matrices; Joints; Manipulators; Vehicles;
Conference_Titel :
Underwater Technology (UT), 2015 IEEE
Conference_Location :
Chennai
Print_ISBN :
978-1-4799-8299-8
DOI :
10.1109/UT.2015.7108310
