Chapter 10 — Redundant Robots

Free-floating autonomous valve turning (task-priority redundancy control + Task Concurrence)‬

This video records the experimental validation of a controller for the GIRONA500 underwater vehicle manipulator system demonstrating an autonomous floating-base valve-turning manipulation application. The method is based on kinematic control, avoiding the need for a complex, and difficult-to-obtain, hydrodynamic model. The method relies on the decoupled control of the vehicle and manipulator velocities using a combination of the task-priority redundancy resolution and the task concurrence approaches.