Floating Underwater Manipulation: Developed Control Methodology and Experimental Validation within the TRIDENT Project
Article first published online: 2 JAN 2014
© 2013 Wiley Periodicals, Inc.
Journal of Field Robotics
Volume 31, Issue 3, pages 364–385, May/June 2014
How to Cite
Simetti, E., Casalino, G., Torelli, S., Sperindé, A. and Turetta, A. (2014), Floating Underwater Manipulation: Developed Control Methodology and Experimental Validation within the TRIDENT Project. J. Field Robotics, 31: 364–385. doi: 10.1002/rob.21497
- Issue published online: 7 APR 2014
- Article first published online: 2 JAN 2014
- Manuscript Accepted: 23 NOV 2013
- Manuscript Received: 25 MAR 2013
- European Commission through the FP7-ICT2009-248497 TRIDENT
This paper presents the control framework that has been proposed and successfully employed within the TRIDENT EU FP7 project, the aim of which is to develop a multipurpose Intervention Autonomous Underwater Vehicle (I-AUV) exhibiting smart manipulation capabilities, for interventions within unstructured underwater environments. In particular, the work focuses on the exploitation of the highly redundant system for achieving a dexterous object grasping, while also satisfying a set of conditions of scalar inequality type to be achieved ultimately. These represent safety and/or operational-enabling conditions for the overall system itself, such as, for instance, respecting joint limits and keeping the object grossly centered in the camera system. Thus the design of a control architecture exhibiting such a property first required an extension of the classical task priority framework, to be performed in such a way as to also account, in a uniform manner, for inequality conditions to be achieved ultimately. Then, following a description on how such an extension has been made, both simulations and experimental trials are successively presented to show how the developed TRIDENT I-AUV system is able to properly exploit all the redundant degrees of freedom for achieving all the established objectives.