This paper presents a unifying task priority control architecture for underwater vehicle manipulator systems. The proposed control framework can be applied to different operative scenarios such as waypoint navigation, assisted teleoperation, interaction, landing and grasping. This work extends the results of the TRIDENT and MARIS projects, which were limited to the execution of grasping actions, to other applications taken from the DexROV and ROBUST projects. In particular, simulation results show how the control framework can be used, for example, for pipeline inspection scenarios and deep sea mining exploration.
|Titolo:||Task priority control of underwater intervention systems: Theory and applications|
|Data di pubblicazione:||2018|
|Appare nelle tipologie:||01.01 - Articolo su rivista|
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|2018_06_OE_Task priority control of underwater intervention systems theory and applications.pdf||Documento in versione editoriale||Open Access Visualizza/Apri|