Title :
A reactive neural network architecture to redundancy resolution for underwater vehicle-manipulator systems
Author :
Santos, Carlos Henrique dos ; Guenther, Raul ; De Pieri, Edson
Author_Institution :
Dept. of Autom. & Syst., Fed. Univ. of Santa Catarina
Abstract :
A new algorithm for redundancy resolution to an autonomous underwater vehicle-manipulator system (UVMS) is proposed. The algorithm explore the benefits of using a reactive neural network architecture to impose desired motions to a virtual kinematic chain. The computer simulation results demonstrate the beneficial characteristics of our proposed method
Keywords :
manipulators; neural nets; remotely operated vehicles; underwater vehicles; autonomous underwater vehicle-manipulator system; reactive neural network architecture; redundancy resolution; virtual kinematic chain; Computer architecture; Computer simulation; Control systems; Kinematics; Laboratories; Mechanical engineering; Neural networks; Robotics and automation; Service robots; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642195
