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.
Guidelines for a Distributed Functional and Algorithmic Control Architecture for Underwater Free-flying Multi-manipulators / G. Casalino; A. Turetta; C. Melchiorri. - STAMPA. - (2010), pp. 475-478. (Intervento presentato al convegno International Symposium Electronics in Marine tenutosi a Zadar, nel 15-17 September 2010).
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.
