Task-priority redundancy resolution on acceleration level for underwater vehicle-manipulator system

被引：8
作者：
Tang, Qirong [1 ]
Liang, Le [1 ]
Xie, Jianhua [2 ]
Li, Yinghao [1 ]
Deng, Zhenqiang [1 ]
机构：
[1] Tongji Univ, Sch Mech Engn, Lab Robot & Multibody Syst, Room A435,Kaiwu Bd, Shanghai 201804, Peoples R China
[2] China Nucl Power Engn Co, NI Equipment Dept, Shenzhen, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2017年 / 14卷 / 04期
基金：
中国国家自然科学基金;
关键词：
UVMS; redundancy resolution; acceleration level; task priority; restoring moments;
D O I：
10.1177/1729881417719825
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A task-priority redundancy resolution with restoring moments optimized on acceleration level for the underwater vehicle-manipulator system is investigated in this article. Redundant resolution is a key and difficult problem in underwater vehicle-manipulator system's trajectory planning. Firstly, kinematic modeling and dynamic modeling based on Lagrange method are studied. To overcome acceleration's sudden change in traditional task-priority method, a new redundancy resolution method on the acceleration level is proposed. In this approach, a scalar potential function is established and used for reducing the effect of restoring moments by applying gradient projection. Finally, simulation is performed to verify the effectiveness of the proposed approach by comparing with traditional approaches.
引用
收藏
页码：1 / 9
页数：9
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