Title :
Task-priority redundancy resolution for underwater vehicle-manipulator systems
Author :
Antonelli, Gianluca ; Chiaverini, Stefano
Author_Institution :
Dipartimento di Inf. e Sistemistica, Napoli Univ., Italy
Abstract :
An underwater vehicle-manipulator system (UVMS) usually has more degrees of freedom than those required to attain given end-effector postures. Therefore, the UVMS is a redundant system and kinematic control algorithms can be applied aimed at achieving additional control objectives such as energy savings or increase of system manipulability. This paper presents a task-priority inverse kinematics approach to redundancy resolution for a UVMS. Three case studies are developed to demonstrate the effectiveness of the technique in different applications
Keywords :
manipulator dynamics; manipulator kinematics; marine systems; redundancy; tracking; dynamics; energy consumption; inverse kinematics; redundant system; task-priority redundancy; trajectory tracking; underwater vehicle-manipulator system; Control systems; Energy consumption; Energy resolution; Kinematics; Manipulator dynamics; Marine vehicles; Space vehicles; Trajectory; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677070
