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

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dc.contributor.authorJun, B.-H.-
dc.contributor.authorLee, P.-M.-
dc.contributor.authorLee, J.-
dc.date.accessioned2023-12-22T09:30:48Z-
dc.date.available2023-12-22T09:30:48Z-
dc.date.issued2004-
dc.identifier.issn0000-0000-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9112-
dc.description.abstractThis 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.-
dc.format.extent6-
dc.language영어-
dc.language.isoENG-
dc.titleManipulability analysis of underwater robotic arms on ROV and application to task-oriented joint configuration-
dc.typeArticle-
dc.identifier.scopusid2-s2.0-19644399040-
dc.identifier.bibliographicCitationOcean '04 - MTS/IEEE Techno-Ocean '04: Bridges across the Oceans - Conference Proceedings, v.3, pp 1548 - 1553-
dc.citation.titleOcean '04 - MTS/IEEE Techno-Ocean '04: Bridges across the Oceans - Conference Proceedings-
dc.citation.volume3-
dc.citation.startPage1548-
dc.citation.endPage1553-
dc.type.docTypeConference Paper-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscopus-
dc.subject.keywordPlusComputer simulation-
dc.subject.keywordPlusDegrees of freedom (mechanics)-
dc.subject.keywordPlusOptimization-
dc.subject.keywordPlusQuadratic programming-
dc.subject.keywordPlusRemotely operated vehicles-
dc.subject.keywordPlusVideo signal processing-
dc.subject.keywordPlusEnd-effectors-
dc.subject.keywordPlusJacobian matrix-
dc.subject.keywordPlusTask oriented manipulability measure (TOMM)-
dc.subject.keywordPlusVideo images-
dc.subject.keywordPlusRobotic arms-
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