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A global control scheme for free-floating vehicle-manipulators

Olivier Kermorgant 1, * Yvan R. Petillot 2 Matt Dunnigan 2 
* Corresponding author
ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie
2 Ocean Systems Laboratory
School of Engineering and Physical Sciences
Abstract : This paper proposes a general framework to control underwater vehicle-manipulator systems from external sensors. The design of the control law follows several constraints and criteria to optimize the overall behavior. The task is defined in the sensor space, that is suited for visual servoing from camera or sonar images. The control input distribution between the arm and the body is considered and separated between the approach and the intervention phases. The proposed framework is validated in a realistic simulation environment, imposing constant and varying disturbances at the velocity level.
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Submitted on : Wednesday, September 4, 2013 - 9:15:31 AM
Last modification on : Wednesday, December 1, 2021 - 3:32:14 PM


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  • HAL Id : hal-00857692, version 2


Olivier Kermorgant, Yvan R. Petillot, Matt Dunnigan. A global control scheme for free-floating vehicle-manipulators. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'13, Nov 2013, Tokyo, Japan. ⟨hal-00857692v2⟩



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