Coordinated Motion of an Autonomous Underwater Vehicle-Manipulator System Based on Energy Consumption Minimization

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.