IEEE - Institute of Electrical and Electronics Engineers, Inc. - A global control scheme for free-floating vehicle-manipulators

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Olivier Kermorgant ; Yvan Petillot ; Matt Dunnigan
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 5,015 - 5,020
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6697081
Regular:

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... View More

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