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

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

摘要: 描述了自治水下机器人搭载的三功能水下电动机械手的设计．鉴于自治水下机器人—机械手系统是运动学冗余的且自带能源，因此将系统阻力优化函数引入逆运动学求解，设计了基于系统能源消耗最小的系统协调运动规划算法．仿真表明，该算法在解决系统冗余度的同时，有效地减小了系统能源消耗．

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.