Abstract:
A control scheme for the coordinated control of a subsea vehicle/manipulator system is presented. The unit quaternion representation is used in a singularity free representation of the attitude. The control scheme is formulated in a 12 DOF task space and only position measurements are required. The performance is evaluated by simulation with a realistic model of a commercial underwater vehicle, which includes the full dynamic interaction between vehicle and manipulator.
Reference:
F. Lizarralde, J.T. Wen (1995). Quaternion-based Coordinated Control of a Mobile Subsea Manipulator with only Position Measurements.
1995 Conference on Decision and Control, New Orleans, Dec., 1995.
Publication Type:
Conference Articles