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Manipulability analysis of underwater robotic arms on ROV and application to task-oriented joint configuration

Authors
Jun, B.-H.Lee, P.-M.Lee, J.
Issue Date
2004
Citation
Ocean '04 - MTS/IEEE Techno-Ocean '04: Bridges across the Oceans - Conference Proceedings, v.3, pp 1548 - 1553
Pages
6
Journal Title
Ocean '04 - MTS/IEEE Techno-Ocean '04: Bridges across the Oceans - Conference Proceedings
Volume
3
Start Page
1548
End Page
1553
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9112
ISSN
0000-0000
Abstract
This paper describes task-oriented manipulability of tele-operated robotic arms mounted on remotely operated vehicle (ROV) and its application to task-oriented joint configurations. Main purpose of the study is to reduce tele-operator's burden in performing underwater tasks by enhancing the functionality of manipulator. Even though a manipulator has 6 degrees-of-freedom (DOF), which is proper DOF to work in Cartesian workspace, the manipulator might have redundancy according to task types and order of task-priority. This paper focuses on the problem to utilize the redundancy by introducing a scalar function as an object of optimization. The scalar function is composed of task-oriented manipulability measure (TOMM) and joint limit measure (JLM). Using sequential quadratic programming (SQP) with the object function, we obtained optimal postures of manipulator for a given position constraint of end-effecter. Adopting the scalar function as a performance index, we solve a redundancy resolution problem based on pseudo inverse of task-oriented Jacobian matrix. ?2004 IEEE.
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