An Approach to Trajectory Planning for Underwater Redundant Manipulator Considering Hydrodynamic Effects

被引：4

作者：

Kumar, Virendra ^{[1
]}

Sen, Soumen ^{[1
]}

Shome, Sankar Nath ^{[1
]}

Roy, Shibendu S. ^{[2
]}

机构：

[1] CSIR Cent Mech Engn Res Inst, Durgapur 713209, W Bengal, India

[2] Natl Inst Technol Durgapur, Durgapur 713209, India

来源：

MACHINES, MECHANISM AND ROBOTICS | 2019年

关键词：

Underwater manipulator; Hydrodynamic forces; Hydrodynamic drag; Added mass; Redundant manipulator; Trajectory/motion planning; MOTION;

D O I：

10.1007/978-981-10-8597-0_32

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This article considers motion planning of a redundant serial link manipulator in fully submerged underwater scenario in the presence of obstacles, modelled as point objects. The proposed trajectory planning is based on minimizing the energy required in overcoming the hydrodynamic effects, and in the same time avoiding both obstacles and singularities. The presence of redundancy in joint space enables to choose optimal sequence of configurations and associated motion rates. The proposed approach is applied for motion planning of a three degrees-of-freedom planar manipulator avoiding a point obstacle and solved.

引用

页码：377 / 388

页数：12

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