文章基本信息

标题：Task-priority redundancy resolution on acceleration level for underwater vehicle-manipulator system
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作者：Qirong Tang ; Le Liang ; Jianhua Xie 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：4
DOI：10.1177/1729881417719825
出版社：SAGE Publications
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.
关键词：UVMS ; redundancy resolution ; acceleration level ; task priority ; restoring moments