Free floating autonomous underwater manipulation is still an open research topic; an important challenge is offered by dynamic manipulation, where the vehicle maintains relevant velocities during manipulation tasks. To develop new control architectures, a precise modelling of the mechanisms involved in the manipulation tasks is needed. The focus of this paper is the multibody modelling and the control of an Intervention-Autonomous Underwater Vehicle (I-AUV). An accurate model of the whole system has been developed, including vehicle-fluid interaction. A suitable 3D contact model has been developed for the contact between the gripper and the object to be manipulated. A control strategy for the whole I-AUV system is proposed, comprising a suitable grasp planning strategy. Finally, an evaluation of the I-AUV control system performances have been carried out.

Intervention-Autonomous Underwater Vehicle Multibody Models for Dynamic Manipulation Tasks / Conti, Roberto; Costanzi, Riccardo; Fanelli, Francesco; Meli, Enrico; Ridolfi, Alessandro; Allotta, Benedetto. - STAMPA. - (2016), pp. 193-211. [10.1007/978-3-319-30614-8_9]

Intervention-Autonomous Underwater Vehicle Multibody Models for Dynamic Manipulation Tasks

FANELLI, FRANCESCO;MELI, ENRICO;RIDOLFI, ALESSANDRO;ALLOTTA, BENEDETTO
2016

Abstract

Free floating autonomous underwater manipulation is still an open research topic; an important challenge is offered by dynamic manipulation, where the vehicle maintains relevant velocities during manipulation tasks. To develop new control architectures, a precise modelling of the mechanisms involved in the manipulation tasks is needed. The focus of this paper is the multibody modelling and the control of an Intervention-Autonomous Underwater Vehicle (I-AUV). An accurate model of the whole system has been developed, including vehicle-fluid interaction. A suitable 3D contact model has been developed for the contact between the gripper and the object to be manipulated. A control strategy for the whole I-AUV system is proposed, comprising a suitable grasp planning strategy. Finally, an evaluation of the I-AUV control system performances have been carried out.
2016
978-3-319-30612-4
Multibody Dynamics - Computational Methods and Applications
193
211
Conti, Roberto; Costanzi, Riccardo; Fanelli, Francesco; Meli, Enrico; Ridolfi, Alessandro; Allotta, Benedetto
File in questo prodotto:
File Dimensione Formato  
Multibody Dynamics_book_contributionCONTI_ROBERTO.pdf

Accesso chiuso

Descrizione: Capitolo (articolo principale)
Tipologia: Versione finale referata (Postprint, Accepted manuscript)
Licenza: Tutti i diritti riservati
Dimensione 704.76 kB
Formato Adobe PDF
704.76 kB Adobe PDF   Richiedi una copia

I documenti in FLORE sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificatore per citare o creare un link a questa risorsa: https://hdl.handle.net/2158/1042800
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? 0
social impact