Optimum Method of the Underwater Robotic Vehicle to Minimize an Impact Force
Underwater robotic vehicles(URV) are employed to inspect subsea facilities. In order to deftly operate underwater robotic vehicles, firmly attached structure is required. The choice of docking point is very important. Multiple re-dockings caused by an inappropriate choice increases the duration and cost of the mission. This paper proposes a method to assist the URV operator identifying appropriate docking position in the context of a desired facile workspace. The method is consistent with classical procedures developed for industrial robotics. We propose a positioning strategy based on the task of intuitively determining docking positions. We take facility of operator as the optimization criterion. In this paper, the condition number of the operator is adopted as a measure of operator facility. This paper calculates joint limits and presents Theoretical analysis and simulation results.
optimization facility underwater robotic
Hao Min Xiayu Mei
Machinery design, Manufacturing and Automation Huazhong University of Science and Technology Wuhan, Machinery design, Manufacturing and Automation Huazhong University of Science and Technology Wuhan,
国际会议
海口
英文
366-369
2011-07-15（万方平台首次上网日期，不代表论文的发表时间）