Coordinated Motion of an Autonomous Underwater Vehicle-Manipulator System Based on Energy Consumption Minimization
ZHANG Qi-feng1,2, ZHANG Ai-qun1
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
张奇峰, 张艾群. 基于能源消耗最小的自治水下机器人—机械手系统协调运动研究[J]. 机器人, 2006, 28(4): 444-447,452..
ZHANG Qi-feng, ZHANG Ai-qun. Coordinated Motion of an Autonomous Underwater Vehicle-Manipulator System Based on Energy Consumption Minimization. ROBOT, 2006, 28(4): 444-447,452..
Abstract：The design of a three-function electric manipulator to be equipped for an autonomous underwater vehicle(AUV) is described at first.Whereas the underwater vehicle-manipulator system is of kinematic redundancy and carries energy with itself,the drag optimization function is incorporated into the motion coordination algorithm to minimize energy consumption of the system.The simulation results demonstrate the effectiveness of the proposed method in resolving the kinematic redundancy and reducing the energy consumption.
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