Motion Planning of Underwater Vehicle-Manipulator System with Joint Limit

Abstract:

This paper studies motion planning of underwater vehicle-manipulator system (UVMS) based on weighted minimum norm method with joint limit. In response to the problem that joint motion is limited and cannot give full play to kinematical performance in the range of allowed orientation angle, existed in the traditional weighted minimum norm method for joint limit, an improved method about motion planning is proposed. By means of introducing threshold in the joint potential function to change the initial position where the joint velocity is limited, the method makes that joint is only limited between threshold and boundary when it moves from the middle position to bilateral boundaries. A simulation is carried out to verify the proposed motion planning method.

• Periodical: Applied Mechanics and Materials (Volumes 220-223)
• Pages: 1767-1771
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.220-223.1767
• Online since: November 2012
• Authors: Ming Jun Zhang, Sheng Quan Peng, Zhen Zhong Chu, Yu Jia Wang
• Keywords: Joint Limit, Motion Planning, Underwater Vehicle-Manipulator System

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