Planning and control for co-ordination of underwater manipulators

D. M. Lane, M. W. Dunnigan, P. J. Knightbridge, A. W. Quinn

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


This paper has presented early ideas and results for implementing an automated dual arm subsea inspection/intervention system designed to interact at the task level. The feasibility of using a low order linear model to represent the dynamics of the shoulder up/down joint of a TA9 manipulator has been demonstrated. An alternative approach to solving the kinematic motion equations has also been identified, and initial trials of the multi-agent structure carried out. The Preference Planning approach to interleaving task planning and execution for error recovery has been designed and is being implemented.

Original languageEnglish
Pages (from-to)493-498
Number of pages6
JournalIEE Conference Publication
Issue number332
Publication statusPublished - 1991
EventInternational Conference on CONTROL '91 - Edinburgh, Scotl
Duration: 25 Mar 199128 Mar 1991


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