Basic interaction operations for an underwater vehicle-manipulator system

E. Cataldi, G. Antonelli
{"title":"Basic interaction operations for an underwater vehicle-manipulator system","authors":"E. Cataldi, G. Antonelli","doi":"10.1109/ICAR.2015.7251506","DOIUrl":null,"url":null,"abstract":"In this paper an underwater vehicle-manipulator system is considered in order to accomplish two operations, namely to turn a valve and to push a button. Realistic assumptions, such as imperfect knowledge of the environment, have been considered with the purpose to design the proper interaction control scheme. In addition, due to the poor knowledge of the underwater dynamics, model-based approaches have been avoided. The UVMS is characterized by 13 Degrees-Of-Freedoms (DOFs) and a proper task-priority, inverse kinematics controller has been designed to take into account all the DOFs, however, this paper focuses on the interaction part. The redundancy exploitation is an ongoing activity being the interaction approach fully decoupled, and thus compatible, with the redundancy resolution scheme. The validation has been achieved resorting to a realistic mathematical model, including the main dynamic effects.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"22","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2015.7251506","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 22

Abstract

In this paper an underwater vehicle-manipulator system is considered in order to accomplish two operations, namely to turn a valve and to push a button. Realistic assumptions, such as imperfect knowledge of the environment, have been considered with the purpose to design the proper interaction control scheme. In addition, due to the poor knowledge of the underwater dynamics, model-based approaches have been avoided. The UVMS is characterized by 13 Degrees-Of-Freedoms (DOFs) and a proper task-priority, inverse kinematics controller has been designed to take into account all the DOFs, however, this paper focuses on the interaction part. The redundancy exploitation is an ongoing activity being the interaction approach fully decoupled, and thus compatible, with the redundancy resolution scheme. The validation has been achieved resorting to a realistic mathematical model, including the main dynamic effects.
水下航行器-操纵器系统的基本交互操作
本文研究了一种水下航行器-操纵器系统,该系统主要完成阀门的转动和按钮的按动两种操作。为了设计适当的交互控制方案,考虑了现实的假设,例如对环境的不完全了解。此外,由于对水下动力学知识的缺乏,避免了基于模型的方法。UVMS具有13个自由度和适当的任务优先级,设计了考虑所有自由度的逆运动学控制器,但本文主要研究交互部分。冗余利用是一个正在进行的活动,它是完全解耦的交互方法,因此与冗余解析方案兼容。通过一个真实的数学模型,包括主要的动态效应,得到了验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信