DocumentCode
2104310
Title
A reactive neural network architecture to redundancy resolution for underwater vehicle-manipulator systems
Author
Santos, Carlos Henrique dos ; Guenther, Raul ; De Pieri, Edson
Author_Institution
Dept. of Autom. & Syst., Fed. Univ. of Santa Catarina
fYear
2006
fDate
15-19 May 2006
Firstpage
3238
Lastpage
3243
Abstract
A new algorithm for redundancy resolution to an autonomous underwater vehicle-manipulator system (UVMS) is proposed. The algorithm explore the benefits of using a reactive neural network architecture to impose desired motions to a virtual kinematic chain. The computer simulation results demonstrate the beneficial characteristics of our proposed method
Keywords
manipulators; neural nets; remotely operated vehicles; underwater vehicles; autonomous underwater vehicle-manipulator system; reactive neural network architecture; redundancy resolution; virtual kinematic chain; Computer architecture; Computer simulation; Control systems; Kinematics; Laboratories; Mechanical engineering; Neural networks; Robotics and automation; Service robots; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1642195
Filename
1642195
Link To Document