Abstract
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.
Highlights
Underwater robots nowadays are playing a more and more important role in the field of ocean exploitation
A restoring moment optimized task-priority redundancy resolution approach on acceleration level for Underwater vehicle-manipulator system (UVMS) is proposed in this article
Considering the influence of the restoring torque and the viscous force, the kinematic and dynamic modeling of UVMS is established based on the second Lagrange equation
Summary
Underwater robots nowadays are playing a more and more important role in the field of ocean exploitation. Redundancy resolution of UVMS, which determines UVMS’s position, velocity, and acceleration during the task, is an important part of trajectory planning. A task-priority redundancy resolution on acceleration level is introduced, and the secondary task is replaced by optimization function which using GPM approach. Such system performance can be improved while the priority task is ensured. It can be considered as the sum of the drag force and the lift forces The former is opposite to the relative velocity between the body and the fluid, while the latter are normal to it and they are supposed to act on the CM of the body.[16] For a completely submerged body, a simplified damping coefficients matrix which only consists of linear and quadratic terms is presented by[15]. It is assumed that the manipulator joints are all rotating joints, and the restoring moments can be expressed as
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