DocumentCode
530097
Title
Guidelines for a distributed functional and algorithmic control architecture for underwater free-flying multi-manipulators
Author
Casalino, Giuseppe ; Turetta, Alessio ; Melchiorri, Claudio
Author_Institution
ISME: Integrated Syst. for the Marine Environ., Univ. of Genova, Genova, Italy
fYear
2010
fDate
15-17 Sept. 2010
Firstpage
475
Lastpage
478
Abstract
The paper deals with the problem of suitably coordinating the maneuvers of a non-holonomic underwater vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. Results are obtained by merging together some recent ones, relevant to the field of non-holonomic vehicle guidance and maneuvering, with those concerning the coordination of fixed base multiarm manipulation systems.
Keywords
manipulators; mobile robots; motion control; underwater vehicles; algorithmic control architecture; distributed functional guidelines; nonholonomic vehicle guidance; underwater free flying multimanipulators; Jacobian matrices; Joints; Manipulators; Robot kinematics; Vectors; Vehicles; floating mobile manipulators;
fLanguage
English
Publisher
ieee
Conference_Titel
ELMAR, 2010 PROCEEDINGS
Conference_Location
Zadar
ISSN
1334-2630
Print_ISBN
978-1-4244-6371-8
Electronic_ISBN
1334-2630
Type
conf
Filename
5606118
Link To Document