Jin-Il Kang, Hyeung-Sik Choi, B. Jun, Ngoc-Duc Nguyen, Joon-Young Kim
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引用次数: 4
摘要
水下航行器-操纵器系统(UVMS)是一种用于执行各种复杂水下作业的有用系统。然而,由于外部干扰,如有效载荷持有水下物体,电流等,难以控制UVMS的运动。为了保证UVMS的动态稳定性,本文提出了采用零矩点(zero moment point, ZMP)算法的冗余分解方法。为了评估所提出的ZMP算法和冗余度解决方法,开发了一个由冗余度机械手组成的试验台。结果表明,ZMP算法在保证末端执行器精确跟踪目标轨迹的同时,提高了UVMS的稳定性。
Control and implementation of underwater vehicle manipulator system using zero moment point
Underwater Vehicle-Manipulator System (UVMS) is a useful system to perform diverse and sophisticated operations under the water. However it is difficult to control the motion of UVMS due to external disturbances such as payloads holding underwater objects, currents, etc. In this paper, in order to ensure the dynamic stability of the UVMS, redundancy resolution method is proposed using a zero moment point (ZMP) algorithm. In order to evaluate the proposed ZMP algorithm and redundancy resolution method, a testbed composed of redundant manipulator was developed. The results show that ZMP algorithm helps the stability of the UVMS while the end-effector of the manipulator tracks the desired trajectory accurately.