Inverse kinematic solution and simulation for ROVs-Manipulators system

Author

Li, Yanfu ; Zhang, Qifeng ; Feng, Xisheng

Author_Institution

State Key Lab. of Robot., Chinese Acad. of Sci., Shenyang

fYear

2008

fDate

2-4 July 2008

Firstpage

3345

Lastpage

3348

Abstract

It is proposed to use anchor manipulators to provide a stable operating environment for underwater remotely operated vehicles (ROVs) in this paper. The kinematics equation of ROVs-manipulators system is modeled and the motion planning of ROVs-manipulators system (ROVMS) is described, then, a task-priority redundancy inverse kinematic solution technique based on weighted-least norm (WLN) solution is developed which address twofold aims one for avoiding joint limit and controlling the manipulator end-effectors position, and other for limiting configuration of the ROVs vehicle. Computational aspects of the solutions are also considered in view of real-time implementation of a kinematic control algorithm. The method is applied to ROVs mounded with a five-degree-of-freedom SIWR-II Underwater-manipulator. The results from computer simulations demonstrate its effectiveness.

Keywords

end effectors; manipulator kinematics; path planning; remotely operated vehicles; underwater vehicles; ROV; computer simulations; five-degree-of-freedom; inverse kinematic solution; kinematic control algorithm; manipulator end-effectors position control; manipulators system; task-priority redundancy inverse kinematic solution technique; underwater remotely operated vehicles; weighted-least norm solution; Kinematics; Anchor manipulator; ROVMS; Redundancy Inverse Kinematic Resolution; Simulation; WLN;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2008. CCDC 2008. Chinese

Conference_Location

Yantai, Shandong

Print_ISBN

978-1-4244-1733-9

Electronic_ISBN

978-1-4244-1734-6

Type

conf

DOI

10.1109/CCDC.2008.4597949

Filename

4597949