Manipulability analysis of underwater robotic arms on ROV and application to task-oriented joint configuration |
| |
Authors: | Bong-Huan Jun Pan-Mook Lee Seungmin Kim |
| |
Affiliation: | (1) Maritime and Ocean Engineering Research Institute, KORDI, 171, Jang-dong, Yuseong, Daejeon, 305-343, Republic of Korea;(2) Dept. of Mechatronics Exam., The Korean Intellectual Property Office, #920, Dunsan-dong, Seo-gu, Daejeon, 302-701, Republic of Korea |
| |
Abstract: | This paper describes the task-oriented manipulability of tele-operated robotic arms mounted on a remotely operated vehicle
(ROV) and its application to task-oriented joint configurations. The main purpose of the study is to reduce the tele-operator’s
burden in performing underwater tasks by enhancing the functionality of the manipulator. Even though a manipulator has 6 degrees-of-freedom
(DOF), which is proper DOF to work in Cartesian workspace, the manipulator might have redundancy according to task types and
order of task-priority. This paper focuses on the problem to utilize the redundancy by introducing a scalar function as an
object of optimization. The scalar function is composed of a taskoriented manipulability measure (TOMM) and joint limit measure
(JLM). Using sequential quadratic programming (SQP) with the object function, we obtained optimal postures of the manipulator
for a given position constraint of the end-effecter. Adopting the scalar function as a performance index, we solved a redundancy
resolution problem based on the pseudo inverse of the task-oriented Jacobian matrix. |
| |
Keywords: | Rbotics arm ROV Manipulators Joint limit measure |
本文献已被 SpringerLink 等数据库收录! |
|