Dynamic trajectory planning for autonomous underwater vehicle-manipulator systems

An approach to dynamics-based trajectory planning for systems composed of subsystems with different dynamic responses is presented. This approach requires that the task-space trajectory be represented in terms of Fourier series. Various frequency components from this series are then used to generate the reference joint-space trajectories based on the natural frequencies of the respective subsystems. This approach is further extended for trajectory planning of an autonomous underwater vehicle manipulator system, where the underwater vehicle has much slower response than the on-board manipulator. The advantage of this proposed dynamics-based planning methodology is its ability to generate both kinematically admissible and dynamically feasible trajectories. Results from computer simulations are presented to demonstrate the efficacy of the proposed scheme