The problem of singularity avoidance to autonomous UVMS (Underwater Vehicle Manipulator System) is addressed. For this purpose, an algorithm which explores a hybrid approach with a functional machine as one of its states is adopted. This approach imposes desired motions to the UVMS kinematic chain. The computer simulation results demonstrate the beneficial characteristics of the proposed method.
Hybrid functional machine strategy to avoid singularities in underwater vehicle-manipulator systems
2011
6 Seiten, 12 Bilder, 11 Quellen
Conference paper
Storage medium
English
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