contributor author | Sitler, Justin | |
contributor author | Wang, Long | |
date accessioned | 2025-04-21T10:32:29Z | |
date available | 2025-04-21T10:32:29Z | |
date copyright | 11/1/2024 12:00:00 AM | |
date issued | 2024 | |
identifier issn | 1942-4302 | |
identifier other | jmr_17_5_051001.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4306405 | |
description abstract | Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This article provides the mechanical, electrical, and software design of a novel UVMS equipped with a continuum manipulator, referred to as a continuum-UVMS. A kinematic model for the continuum-UVMS is derived in order to build an algorithm to resolve the robot’s redundancy and generate joint space commands. Different methods to optimize the trajectory for specific tasks are proposed using both the weighted least norm solution and the gradient projection method. Kinematic simulation results are analyzed to assess the performance of the proposed algorithm. Finally, the continuum-UVMS is deployed in an experimental demonstration in which both teleoperation and autonomous control are tested for a given reference trajectory. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System | |
type | Journal Paper | |
journal volume | 17 | |
journal issue | 5 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4066554 | |
journal fristpage | 51001-1 | |
journal lastpage | 51001-11 | |
page | 11 | |
tree | Journal of Mechanisms and Robotics:;2024:;volume( 017 ):;issue: 005 | |
contenttype | Fulltext | |