Planning and control for co-ordination of underwater manipulators

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

Planning and control for co-ordination of underwater manipulators

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

School of Engineering & Physical Sciences

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	493-498
Number of pages	6
Journal	IEE Conference Publication
Volume	1
Issue number	332
Publication status	Published - 1991
Event	International Conference on CONTROL '91 - Edinburgh, Scotl Duration: 25 Mar 1991 → 28 Mar 1991

Cite this

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AU - Dunnigan, M. W.

AU - Knightbridge, P. J.

AU - Quinn, A. W.

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AB - 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.

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M3 - Article

SN - 0537-9989

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JO - IEE Conference Publication

JF - IEE Conference Publication

IS - 332

T2 - International Conference on CONTROL '91

Y2 - 25 March 1991 through 28 March 1991

ER -

Planning and control for co-ordination of underwater manipulators

Abstract

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