Redundancy resolution for underwater vehicle-manipulator systems with congruent gravity and buoyancy loading optimization

Zool H. Ismail, Mathew Walter Dunnigan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

Abstract

In this paper, a new redundancy resolution scheme is proposed for an underwater vehicle manipulator system (UVMS). Using the proposed resolution technique, the system's redundancy is exploited so as to minimize gravity and buoyancy loading of the UVMS which is composed of subsystems with different dynamic responses. The generalized velocity components (GVC) approach is considered in order to obtain a congruent gravitational expression which consists not only of vehicle pose but also the onboard manipulator configuration. During end-effector motion, the overall system's control effort is reduced if gravity and buoyancy loading of both subsystems are small values. A new performance index is applied using the local redundancy resolution. Results from simulations are presented to demonstrate the benefits of the proposed performance index. © 2009 IEEE.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages1393-1399
Number of pages7
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Robotics and Biomimetics - Guilin, China
Duration: 19 Dec 200923 Dec 2009

Conference

Conference2009 IEEE International Conference on Robotics and Biomimetics
Abbreviated titleROBIO 2009
CountryChina
CityGuilin
Period19/12/0923/12/09

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