Planning and control for co-ordination of underwater manipulators

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.