Dexterous Underwater Object Manipulation via Multirobot Cooperating Systems
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چکیده
The complete design and realization of an underwater manipulation system composed by two cooperating arms has been one of the main goals which has been recently attained at the end of the AMADEUS Phase II project: a three years lasting reserch activity, funded by the European Community within the framework of the MAST III program on Marine Technology development. Within this paper, the lines and methodologies followed within the design of the complete functional and algorithmic control architecture for the workcell will be presented in some details, by mainly focusing on its various aspects of modularity, scalability and composability, which presently allow the execution of many different, cooperative, object manipulation tasks.
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تاریخ انتشار 2001