4 accepted papers
This work revisits two classical closed-loop inverse kinematics (CLIK) formulations for hierarchical control and investigates their differences in the context of articulated intervention-autonomous underwater vehicles (AIAUVs). The class of AIAUVs consists of free-floating, slender, multi-link vehic…
A robot with kinematical redundancy with respect to a main task may perform additional tasks simultaneously with the main one. Often, it is desirable to prioritize the performance of some tasks over that of others. To create a strict priority between the different tasks, meaning the performance of h…
A robot with kinematical redundancy with respect to a main task may perform additional tasks simultaneously with the main one. Often, it is desirable to prioritize the performance of some tasks over that of others. To create a strict priority between the different tasks, meaning the performance of h
Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the syst…