Quaternion-based Coordinated Control of a Subsea Mobile Manipulator with Only Position Measurements
نویسندگان
چکیده
A control scheme for the coordinated control of a Sub-sea vehicle/manipulator system is presented. The unit quaternion representation is used in a singularity free representation of the attitude. The control scheme is formulated in a 12 d.o.f. task space and only position measurements are required. The performance is evaluated by simulation with a realistic model of a commercial underwater vehicle, which includes the full dynamic interaction between vehicle and manipulator.
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