A global control scheme for free-floating vehicle-manipulators

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes a general framework to control underwater vehicle-manipulator systems from external sensors. The design of the control law follows several constraints and criteria to optimize the overall behavior. The task is defined in the sensor space, that is suited for visual servoing from camera or sonar images. The control input distribution between the arm and the body is considered and separated between the approach and the intervention phases. The proposed framework is validated in a realistic simulation environment, imposing constant and varying disturbances at the velocity level.

Original languageEnglish
Title of host publication2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
EditorsN Amato
Place of PublicationNEW YORK
PublisherIEEE
Pages5015-5020
Number of pages6
DOIs
Publication statusPublished - 2013
Event26th IEEE/RSJ International Conference on Intelligent Robots and Systems 2013 - Tokyo, Japan
Duration: 3 Nov 20138 Nov 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE
ISSN (Print)2153-0858

Conference

Conference26th IEEE/RSJ International Conference on Intelligent Robots and Systems 2013
Abbreviated titleIROS 2013
CountryJapan
CityTokyo
Period3/11/138/11/13

Keywords

  • Mobile manipulation
  • visual servoing
  • underwater robots
  • disturbances rejection

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