Name
Title | ||
|---|---|---|
Redundancy resolution for underwater vehicle-manipulator systems with congruent gravity and buoyancy loading optimization |
Abstract | ||
|---|---|---|
In this paper, a new redundancy resolution scheme is proposed for an underwater vehicle manipulator system (UVMS). Using the proposed resolution technique, the system's redundancy is exploited so as to minimize gravity and buoyancy loading of the UVMS which is composed of subsystems with different dynamic responses. The generalized velocity components (GVC) approach is considered in order to obtain a congruent gravitational expression which consists not only of vehicle pose but also the onboard manipulator configuration. During end-effector motion, the overall system's control effort is reduced if gravity and buoyancy loading of both subsystems are small values. A new performance index is applied using the local redundancy resolution. Results from simulations are presented to demonstrate the benefits of the proposed performance index. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBIO.2009.5420838 | Robotics and Biomimetics |
Keywords | Field | DocType |
local redundancy resolution,proposed resolution technique,redundancy resolution,underwater vehicle-manipulator system,buoyancy loading optimization,buoyancy loading,overall system,congruent gravitational expression,congruent gravity,onboard manipulator configuration,proposed performance index,new redundancy resolution scheme,new performance index,underwater vehicle manipulator system,torque,end effectors,gravity,performance index,vehicle dynamics,redundancy | Torque,Control theory,Manipulator,Robot end effector,Control engineering,Vehicle dynamics,Redundancy (engineering),Engineering,Gravitation,Congruence (geometry),Buoyancy | Conference |
ISBN | Citations | PageRank |
978-1-4244-4775-6 | 3 | 0.50 |
References | Authors | |
4 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zool H. Ismail | 1 | 9 | 3.79 |
| M.W. Dunnigan | 2 | 23 | 8.70 |