Title :
Motion coordination of underwater vehicle-manipulator systems subject to drag optimization
Author :
Sarkar, Nilanjan ; Podder, Tarun Kanti
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
Abstract :
A motion coordination algorithm for an autonomous underwater vehicle-manipulator system (UVMS) is proposed. This algorithm generates the desired trajectories for both the vehicle and the manipulator in such a way that the total drag effect on the system is minimized. Resolution of kinematic redundancy of the system is performed at the acceleration level so that this algorithm can be incorporated into the system dynamics. The dynamics of the UVMS is modeled using quasi-Lagrange approach. A state-space formulation of the system along with a model-based controller design for a trajectory following task is also presented. The results from computer simulations are used to demonstrate the effectiveness of this proposed method in reducing the drag on the system
Keywords :
control system synthesis; digital simulation; manipulator dynamics; mobile robots; model reference adaptive control systems; redundant manipulators; state-space methods; underwater vehicles; autonomous underwater vehicle-manipulator system; drag optimization; kinematic redundancy; model-based controller design; motion coordination; quasi-Lagrange approach; trajectory following task; Control systems; Drag; Fluid dynamics; Manipulator dynamics; Nonlinear dynamical systems; Orbital robotics; Remotely operated vehicles; Robot kinematics; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770009
