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Multibody Dynamics pp 193–211Cite as

Intervention-Autonomous Underwater Vehicle Multibody Models for Dynamic Manipulation Tasks

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Part of the book series: Computational Methods in Applied Sciences ((COMPUTMETHODS,volume 42))

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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Notes

  1. 1.

    In Fig. 9.3 two reference frames are visible on every finger joint; one is attached to the link, while the other shows the orientation when joint coordinate \(\theta \) is zero. If all joints coordinates are zero, fingers are stretched.

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Acknowledgments

This work has been partially supported by the European ARROWS project, that has received funding from the European Union’s Seventh Framework Programme for research, technological development and demonstration under grant agreement no 308724.

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Authors and Affiliations

  1. Department of Industrial Engineering (DIEF), University of Florence (UNIFI), Via di Santa Marta 3, 50139, Florence, Italy

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

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  1. Roberto Conti
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  2. Riccardo Costanzi
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  3. Francesco Fanelli
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  4. Enrico Meli
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  5. Alessandro Ridolfi
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  6. Benedetto Allotta
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Corresponding author

Correspondence to Roberto Conti .

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Editors and Affiliations

  1. Dept of Mechanical Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain

    Josep M. Font-Llagunes

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Conti, R., Costanzi, R., Fanelli, F., Meli, E., Ridolfi, A., Allotta, B. (2016). Intervention-Autonomous Underwater Vehicle Multibody Models for Dynamic Manipulation Tasks. In: Font-Llagunes, J. (eds) Multibody Dynamics. Computational Methods in Applied Sciences, vol 42. Springer, Cham. https://doi.org/10.1007/978-3-319-30614-8_9

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  • DOI: https://doi.org/10.1007/978-3-319-30614-8_9

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