Underwater vehicle manipulator systems: Control methodologies for inspection and maintenance tasks

Description

This paper presents the control framework under development within the DexROV Horizon 2020 project, for the execution of maintenance and inspection tasks by a semi-autonomous ROV. The work exploits a task priority based kinematic inversion developed by the authors, extending it to encompass also a force regulation task. A way to manage transitions between the different DexROV missions is also given. The paper presents some simulation results to support the proposed control architecture.

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