Intervention-Autonomous Underwater Vehicle Multibody Models for Dynamic Manipulation Tasks

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Intervention-Autonomous Underwater Vehicle Multibody Models for Dynamic Manipulation Tasks

Conti, Roberto / Costanzi, Riccardo / Fanelli, Francesco / Meli, Enrico / Ridolfi, Alessandro / Allotta, Benedetto

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.

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Document information

Title :

Intervention-Autonomous Underwater Vehicle Multibody Models for Dynamic Manipulation Tasks

Contributors:

Conti, Roberto (author) / Costanzi, Riccardo (author) / Fanelli, Francesco (author) / Meli, Enrico (author) / Ridolfi, Alessandro (author) / Allotta, Benedetto (author)

Published in:

Multibody Dynamics ; 193-211

Computational Methods in Applied Sciences ; 42

Publication date :

2016-01-01

Size :

19 pages

ISBN :

978-3-319-30614-8 , 978-3-319-30612-4

ISSN :

1871-3033

DOI :