Autonomous manipulation for an intervention AUV

Advances in Unmanned Marine Vehicles

Volumn , Issue , 2006, Pages 217-237

  Marani, G ^a   Yuh, J ^b   Choi, S K ^c  

^a UNIVERSITY OF HAWAII   (United States)

^b NATIONAL SCIENCE FOUNDATION   (United States)

^c MASE Inc   (United States)

Author keywords

Arm control system; Autonomous manipulation; Autonomous underwater vehicle; Electromechanical actuators; Electromechanical arm; Intervention AUV; Intervention missions; Manipulators; Marine system control; Remote programming environment; Remotely operated vehicles; SAUVIM; Underwater manipulators; Underwater vehicles

Indexed keywords

CONTROL SYSTEMS; ELECTROMECHANICAL ACTUATORS; ELECTROMECHANICAL DEVICES; MANIPULATORS; REMOTELY OPERATED VEHICLES; ROBOT PROGRAMMING; USER INTERFACES; VEHICLES;

AUTONOMOUS MANIPULATION; ELECTROMECHANICAL ARM; INTERVENTION AUV; INTERVENTION MISSIONS; MARINE SYSTEMS; REMOTE PROGRAMMING; SAUVIM; UNDERWATER MANIPULATOR; UNDERWATER VEHICLES;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 85014169757     PISSN: None     EISSN: None     Source Type: Book    
DOI: 10.1049/PBCE069E_ch10     Document Type: Chapter

References (14)

1. Yuh, J. and S.K. Choi (1999). Semi-autonomous underwater vehicle for intervention mission: an AUV that does more than just swim. Sea Technology, 40(10), pp. 37-42.
2. Whitney, D.E. (1969). Resolved motion rate control of manipulators and human prostheses. In IEEE Transactions on Man-Machine Systems vol. MMS-10, no 2, pp. 47-53.
3. Nakamura, Y. (1991). Advanced Robotics: Redundancy and Optimization. Addison Wesley, Reading, MA.
4. Chiaverini, S. (1997). Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators. IEEE Transactions, on Robotics and Automation, 13, pp. 398-410.
5. Nakamura, Y. and H. Hanafusa (1986). Inverse kinematic solutions with singularity robustness for robot manipulator control. Journal of Dynamic Systems, Measurement and Control, 108, pp. 163-171.
6. Yoshikawa, T. (1984). Analysis and control of robot manipulators with redundancy. Robotics Research, M. Brady and R. Paul, Eds., MIT Press, Cambridge, MA.
7. Marani, G., J. Kim, and J. Yuh (2002). A real-time approach for singularity avoidance in resolved motion rate control of robotic manipulators. In 2002 IEEE International Conference on Robotics and Automation, Washington, DC, 11-15 May.
8. Park, J. (1999). Analysis and control of kinematically redundant manipulators: an approach based on kinematically decoupled joint space decomposition. Ph.D. thesis, Pohang University of Science and Technology (POSTECH).
9. Wampler, C.W. (1986). Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods. IEEE Transactions on Systems, Man, and Cybernetics, SMC-16(1), pp. 93-101.
10. Marani, G., J. Kim, J. Yuh, and W.K. Chung (2003). Algorithmic singularities avoidance in task-priority based controller for redundant manipulators. In 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, 27-31 October.
11. Gottschalk, S., M.C. Lin, and D. Manocha (1996). OBBTree: a hierarchical structure for rapid interference detection. In Computer Graphics (SIGGRAPH’96 Proceedings), pp. 171-180.
12. Funda, J., T.S. Lindsay, and R.P. Paul (1992). Teleprogramming: toward delay invariant remote manipulation. Presence, 1, pp. 29-44.
13. Paul, R.P., C.P. Sayers, and M.R. Stein (1993). The theory of teleprogramming. Journal of the Robotics Society of Japan, 11(6), pp. 14-19.
14. Sayers, C.P., R.P. Paul, J. Catipovic, L.L. Whitcomb, and D. Yoerger (1998). Teleprogramming for subsea teleoperation using acoustic communication. IEEE Journal of Oceanic Engineering, 23(1), pp. 60-71.