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• W2101474901 abstract "A new motion coordination algorithm for an autonomous underwater vehicle-manipulator system (UVMS) is proposed. This algorithm generates the desired trajectories for both the vehicle and the manipulator in such a way that the total hydrodynamic drag on the system is minimized. Resolution of kinematic redundancy of the system is performed at the acceleration level so that this algorithm can be incorporated into the system dynamics. The dynamics of the UVMS are modeled using a quasi-Lagrange approach. A state-space formulation of the system along with a model-based controller design for trajectory-following tasks that includes thruster dynamics is also presented. The computer simulation results demonstrate the effectiveness of this proposed method in reducing the drag on the system." @default.
• W2101474901 created "2016-06-24" @default.
• W2101474901 creator A5005758666 @default.
• W2101474901 creator A5076622286 @default.
• W2101474901 date "2001-04-01" @default.
• W2101474901 modified "2023-10-17" @default.
• W2101474901 title "Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization" @default.
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• W2101474901 doi "https://doi.org/10.1109/48.922789" @default.
• W2101474901 hasPublicationYear "2001" @default.
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