This paper presents the control framework under development within the DexROV Horizon 2020 project, for the execution of maintenance and inspection tasks by a semi-autonomous ROV. The work exploits a task priority based kinematic inversion developed by the authors, extending it to encompass also a force regulation task. A way to manage transitions between the different DexROV missions is also given. The paper presents some simulation results to support the proposed control architecture.
Underwater vehicle manipulator systems: Control methodologies for inspection and maintenance tasks
SIMETTI, ENRICO;CASALINO, GIUSEPPE
2016-01-01
Abstract
This paper presents the control framework under development within the DexROV Horizon 2020 project, for the execution of maintenance and inspection tasks by a semi-autonomous ROV. The work exploits a task priority based kinematic inversion developed by the authors, extending it to encompass also a force regulation task. A way to manage transitions between the different DexROV missions is also given. The paper presents some simulation results to support the proposed control architecture.
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