Advertisement

Motion Planning to Reduce the Thrust of Underwater Robot Using Null-Space Compliance

  • Junbo Chae
  • Youngeon Lee
  • Yeongjun Lee
  • Hyun-Taek Choi
  • Tae-Kyeong YeuEmail author
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 1015)

Abstract

This paper proposes a motion planning method that reduces the thrust of underwater robots moving a manipulator. The proposed method plans motion with 12-degree-of-freedom (12-DOF) for underwater robot, including 6-DOF for Body and 6-DOF for the manipulator. 2-DOF are used for the body’s orientation, roll and pitch and 3-DOF for manipulator position and orientation each. While the robot performs a task, if the thrust of the underwater robot is close to the limit of thruster, the underwater robot reduces its thrust by moving the center of the mass (COM) of the manipulator using null-space control without disturbing the task. The proposed method has been verified via simulation, by planning motion such that the thrust of the underwater robot is reduced under the limit of thrusters.

References

  1. 1.
    Zghal, H., Dubey, R.V., Euler, J.A.: Efficient gradient projection optimization for manipulators with multiple degrees of redundancy. In: 1990 IEEE International Conference on Robotics and Automation, Cincinnati, OH, USA, May 1990, vol. 2, pp. 1006–1011 (1998)Google Scholar
  2. 2.
    Nakamura, Y., Hanafusa, H.: Inverse kinematic solutions with singularity robustness for robot manipulator control. IEEE/ASME J. Dyn. Syst. Meas. Control 108(3), 163–171 (1986)CrossRefGoogle Scholar
  3. 3.
    Antonelli, G., Chiaverini, S.: Task-priority redundancy resolution for underwater vehicle-manipulator systems. In: 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998, CAT. No. 98CH36146 (1998)Google Scholar
  4. 4.
    Kang, J.: Experimental study of dynamic stability of underwater vehicle-manipulator system using zero moment point. J. Mar. Sci. Technol. 25(6), 767–774 (2017)Google Scholar
  5. 5.
    Kermorgant, O.: A dynamic simulator for underwater vehicle-manipulators. In: International Conference on Simulation, Modeling, and Programming for Autonomous Robots Simpar, Bergamo, Italy, October 2014, HAL-01065812v2 (2014)Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Junbo Chae
    • 1
  • Youngeon Lee
    • 1
  • Yeongjun Lee
    • 1
  • Hyun-Taek Choi
    • 1
  • Tae-Kyeong Yeu
    • 1
    Email author
  1. 1.Marine ICT Research DivisionKRISODaejeonKorea

Personalised recommendations