Redundancy Resolution for Underwater Vehicle-Manipulator Systems with Congruent Gravity and Buoyancy Loading Optimization

摘要：

In this paper, a new redundancy resolution scheme is proposed for an underwater vehicle manipulator system (UVMS). Using the proposed resolution technique, the systems 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 systems 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.

作者: Zool H. Ismail Matthew W. Dunnigan

作者单位: Department of Electrical,Electronics,and Computer Engineering of School of Engineering and Physical Department of Electrical,Electronics,and Computer Engineering in the School of Engineering and Physi

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1396-1399

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）