Department of school of Mechanical, Electrical & Information Engineering, Shandong University at Weihai, 264209, China.
Department of school of Mechanical, Electrical & Information Engineering, Shandong University at Weihai, 264209, China.
ISA Trans. 2023 Jun;137:590-600. doi: 10.1016/j.isatra.2023.01.027. Epub 2023 Jan 21.
This paper addresses the redundancy resolution problem for underwater vehicle-manipulator systems (UVMSs). More specifically, a new redundancy resolution approach with motion coordination and dexterous manipulation is presented to guarantee the tracking accuracy of the end-effector while avoiding singular configurations of the manipulator. The task-priority redundancy resolution framework is adopted to achieve an effective coordinated motion of the vehicle and manipulator while exploiting the redundant degrees of freedom available. A dexterous manipulation task with low priority is proposed to reconfigure the UVMS into a more dexterous configuration by keeping the end-effector within the designed heuristic subset. An inequality-based singularity avoidance task is inserted into the redundancy resolution framework as a high-priority task to keep the measure of manipulability above a specified minimum value. Experimental results verify that the proposed approach significantly improves the dexterity and coordination of the UVMS.
本文针对水下机器人-机械臂系统（UVMS）的冗余度解析问题。更具体地说，提出了一种新的冗余度解析方法，具有运动协调和灵巧操作功能，以保证末端执行器的跟踪精度，同时避免机械臂的奇异配置。采用任务优先级冗余度解析框架，在利用可用的冗余自由度的同时，实现车辆和机械臂的有效协调运动。提出了一个低优先级的灵巧操作任务，通过将末端执行器保持在设计的启发式子集中，将 UVMS 重新配置为更灵巧的构型。基于不等式的避免奇异任务作为一个高优先级任务插入到冗余度解析框架中，以保持操作度度量值高于指定的最小值。实验结果验证了所提出的方法显著提高了 UVMS 的灵巧性和协调性。
