Name
Abstract | ||
|---|---|---|
Dual-arm Underwater Vehicle-Manipulator Systems are able perform a variety of interventions tasks, and there are still many challenges related to making such vehicles autonomous. This paper presents a guidance method for generating reference trajectories for such a system by considering the main manipulator and the vehicle base as a leader unit and the secondary manipulator as a follower unit. The desired behavior of the system is expressed as different tasks, and the reference trajectories are calculated using pseudo-inverse Jacobian task matrices and the null-space-based method. The proposed method has been implemented for a particular planar UVMS and simulated for a defined set of tasks. Simulation results confirm the correctness of the proposed method. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ROBIO.2014.7090419 | Robotics and Biomimetics |
Keywords | Field | DocType |
Jacobian matrices,autonomous underwater vehicles,manipulators,trajectory control,dual-arm underwater vehicle-manipulator systems,guidance method,leader unit,null-space-based behavior guidance,null-space-based method,planar dual-arm UVMS,pseudo-inverse Jacobian task matrices,reference trajectory generation,secondary manipulator | Kernel (linear algebra),Kinematics,Jacobian matrix and determinant,Control theory,Matrix (mathematics),Correctness,Control engineering,Robot end effector,Planar,Engineering,Trajectory | Conference |
Citations | PageRank | References |
1 | 0.35 | 11 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Signe Moe | 1 | 26 | 4.65 |
| Antonelli Gianluca | 2 | 716 | 62.09 |
| Kristin Ytterstad Pettersen | 3 | 334 | 33.32 |