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Control and implementation of underwater vehicle manipulator system using zero moment point
- Authors
- Kang, J.-I.; Choi, H.-S.; Jun, B.-H.; Nguyen, N.-D.; Kim, J.-Y.
- Issue Date
- 2017
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Dynamic stability; Redundancy resolution; Underwater vehicle manipulator system; Zero moment point
- Citation
- 2017 IEEE OES International Symposium on Underwater Technology, UT 2017
- Journal Title
- 2017 IEEE OES International Symposium on Underwater Technology, UT 2017
- ISSN
- 0000-0000
- Abstract
- 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. ？ 2017 IEEE.
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