Simulation and Experimental Validation for Dynamic Stability of Underwater Vehicle-Manipulator System

被引：0

作者：

Kang, Jin-Il ^{[1
]}

Choi, Hyeung-Sik ^{[1
]}

Nguyen, Ngoc-Duc ^{[1
]}

Kim, Joon-Young ^{[1
]}

Kim, Dong-Hee ^{[2
]}

机构：

[1] Korea Maritime & Ocean Univ, Mech Engn, Busan, South Korea

[2] Naval R&D Ctr, Hanwha Syst, Gumi, South Korea

来源：

OCEANS 2017 - ANCHORAGE | 2017年

基金：

新加坡国家研究基金会;

关键词：

underwater vehicle-manipulator system; redundancy resolution; dynamic stability; zero moment point;

D O I：

暂无

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

The underwater vehicle-manipulator system (UVMS) generally has more degrees of freedom than those required to perform a given task. Because of these extra of degrees of freedom, UVMS has infinite combinations of joint velocities. In this paper, in order to generate the joint angle trajectories of the manipulator, a redundancy resolution is performed to minimize the distance between the position of ZMP and the mass center of the underwater vehicle. Proposed algorithm helps the whole system to keep the dynamic stability while the UVMS conduct a given task. To evaluate the proposed ZMP algorithm and redundancy resolution method, a testbed composed of redundant manipulator was developed. The results show that ZMP algorithm helps the stability of the UVMS while the end-effector of the manipulator tracks the desired trajectory accurately.

引用

页数：5

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