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.
G. Casalino, A. Turetta, C. Melchiorri (2010). Guidelines for a Distributed Functional and Algorithmic Control Architecture for Underwater Free-flying Multi-manipulators. ZADAR : ELMAR'10.
Guidelines for a Distributed Functional and Algorithmic Control Architecture for Underwater Free-flying Multi-manipulators
MELCHIORRI, CLAUDIO
2010
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
