Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Redundancy Resolution and Robust Control of Underwater Vehicle-Manipulator Systems with Minimizing Restoring Moment

수중 잠수정-매니퓰레이터 시스템의 복원력 최소화를 위한 여유 자유도 해석 및 강인 제어

  • 한종희 (포항공과대학교 기계공학과) ;
  • 정완균 (포항공과대학교 기계공학과)
  • Published : 2009.04.01
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Abstract

In this paper, redundancy resolution of UVMS (underwater vehicle-manipulate. system) is addressed. In general, UVMS has redundant DOFs (degrees of freedom) as many as DOFs of manipulator and these redundant DOFs can be used to optimize the configuration of UVMS while satisfying given tasks. We propose a performance index for redundancy resolution which minimizes the restoring moments of UVMS. The restoring moment can cause unintentional change of poses of UVMS. If the restoring moments remain small, control effort for keeping the poses of UVMS decreases. This means that energy consumption can be reduced by minimizing the restoring moments during conducting tasks. Proposed performance measure is optimized by gradient projection method. Generated trajectories by this redundancy resolution are tracked by robust PID controller. Numerical simulations are presented to demonstrate performance of the proposed algorithm.

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References

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