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• W1980211310 abstract "Dual-arm Underwater Vehicle-Manipulator Systems are able perform a variety of interventions tasks, and there are still many challenges related to making such vehicles autonomous. This paper presents a guidance method for generating reference trajectories for such a system by considering the main manipulator and the vehicle base as a leader unit and the secondary manipulator as a follower unit. The desired behavior of the system is expressed as different tasks, and the reference trajectories are calculated using pseudo-inverse Jacobian task matrices and the null-space-based method. The proposed method has been implemented for a particular planar UVMS and simulated for a defined set of tasks. Simulation results confirm the correctness of the proposed method." @default.
• W1980211310 created "2016-06-24" @default.
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• W1980211310 date "2014-12-01" @default.
• W1980211310 modified "2023-10-18" @default.
• W1980211310 title "Null-space-based behavior guidance of planar dual-arm UVMS" @default.
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• W1980211310 doi "https://doi.org/10.1109/robio.2014.7090419" @default.
• W1980211310 hasPublicationYear "2014" @default.
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