| Popis: |
The paper introduces the control and coordination problems encountered within the employment of autonomous underwater floating manipulators for object retrieval from the sea floor. To this respect, the employment of unifying control framework, capable of guaranteeing the necessary system agility and flexibility, is outlined. Some experimental results from the TRIDENT FP7 project are presented, along with the possible extension of the proposed framework to the case of dual arm manipulators. |
