Details

Autor(en) / Beteiligte

• Simetti, E.
• Casalino, G.

Titel

Whole body control of a dual arm underwater vehicle manipulator system

Ist Teil von

• Annual reviews in control, 2015, Vol.40, p.191-200

Ort / Verlag

Elsevier Ltd

Erscheinungsjahr

2015

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• This paper presents a whole body control framework for the control of a dual arm underwater vehicle manipulator system developed in the context of the MARIS Italian research project, which deals with the control and coordination of underwater vehicles for manipulation and transportation problems. The proposed framework is the extension of the one used in the successful TRIDENT FP7 project that has been improved to be able to deal with multidimensional inequality control objectives. After the presentation of the mathematical background, the paper presents some simulation results showing the good performances of the proposed algorithm.