A new 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 hydrodynamic drag 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 are modeled using a quasi-Lagrange approach. A state-space formulation of the system along with a model-based controller design for trajectory-following tasks that includes thruster dynamics is also presented. The computer simulation results demonstrate the effectiveness of this proposed method in reducing the drag on the system.
Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization
IEEE Journal of Oceanic Engineering ; 26 , 2 ; 228-239
2001
12 Seiten, 43 Quellen
Article (Journal)
English
Development of a coordinated controller for underwater vehicle-manipulator systems
Tema Archive | 2008
|Motion Control of Underwater Vehicle-Manipulator Systems Using Feedback Linearization
British Library Conference Proceedings | 1995
|